CherryECAT/scripts/ECAT_CIA402_ESI.xml

<?xml version="1.0" encoding="utf-8"?>
<EtherCATInfo xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
	<Vendor>
		<Id>#x0048504D</Id>
		<Name>HPMicro</Name>
		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
	</Vendor>
	<Descriptions>
		<Groups>
			<Group>
				<Type>ECAT_Device</Type>
				<Name>ECAT_Device</Name>
				<ImageData16x14>424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000</ImageData16x14>
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YYY">
				<Type ProductCode="#x00000003" RevisionNo="#x00000001">ECAT_CIA402</Type>
				<Name>ECAT_CIA402</Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
					<EtherCATController>
						<DpramSize>61440</DpramSize>
						<SmCount>8</SmCount>
						<FmmuCount>8</FmmuCount>
					</EtherCATController>
					<IdentificationReg134>true</IdentificationReg134>
				</Info>
				<GroupType>ECAT_Device</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
						<AddInfo>2</AddInfo>
					</ChannelInfo>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
						<AddInfo>0</AddInfo>
					</ChannelInfo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>STRING(3)</Name>
								<BitSize>24</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>ULINT</Name>
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product Code</Name>
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									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision Number</Name>
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									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Serial number</Name>
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									<Flags>
										<Access>ro</Access>
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										<Access>ro</Access>
									</Flags>
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								<SubItem>
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									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
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							<DataType>
								<Name>DT1C00ARR</Name>
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								<ArrayInfo>
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							<DataType>
								<Name>DT1C00</Name>
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								<SubItem>
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										<Access>ro</Access>
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								<SubItem>
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									<BitSize>32</BitSize>
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									<Flags>
										<Access>ro</Access>
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							</DataType>
							<DataType>
								<Name>DT1C12ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
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									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C12ARR</Type>
									<BitSize>32</BitSize>
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										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C13ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
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									<Type>USINT</Type>
									<BitSize>8</BitSize>
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									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
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									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
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									<Name>Synchronization Types supported</Name>
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									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
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									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Calc and Copy Time</Name>
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									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
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									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Flags>
										<Access>ro</Access>
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								<SubItem>
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									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Maximum number of modules</Name>
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									<BitSize>16</BitSize>
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										<Access>ro</Access>
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										<Access WriteRestrictions="PreOP">rw</Access>
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								</SubItem>
							</DataType>
							<DataType>
								<Name>DTF050ARR</Name>
								<BaseType>UDINT</BaseType>
								<BitSize>64</BitSize>
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									<LBound>1</LBound>
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							<DataType>
								<Name>DTF050</Name>
								<BitSize>80</BitSize>
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									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DTF050ARR</Type>
									<BitSize>64</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>
									<DefaultData>92010000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>454341545F434941343032</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Manufacturer Hardware version</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>454341545F446576696365</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Manufacturer Software version</Name>
								<Type>STRING(3)</Type>
								<BitSize>24</BitSize>
								<Info>
									<DefaultData>312E30</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
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									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
											<DefaultData>4D504800</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product Code</Name>
										<Info>
											<DefaultData>03000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision Number</Name>
										<Info>
											<DefaultData>01000000</DefaultData>
										</Info>
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									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
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							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01000000</DefaultData>
										</Info>
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									<SubItem>
										<Name>Sync Error Counter Limit</Name>
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											<DefaultData>0400</DefaultData>
										</Info>
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							<Object>
								<Index>#x10F8</Index>
								<Name>Timestamp Object</Name>
								<Type>ULINT</Type>
								<BitSize>64</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>t</PdoMapping>
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								<Index>#x1C00</Index>
								<Name>Sync manager type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Info>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
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										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>01</DefaultData>
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									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>02</DefaultData>
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										<Name>SubIndex 003</Name>
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											<DefaultData>03</DefaultData>
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									<SubItem>
										<Name>SubIndex 004</Name>
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											<DefaultData>04</DefaultData>
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							<Object>
								<Index>#x1C12</Index>
								<Name>RxPDO assign</Name>
								<Type>DT1C12</Type>
								<BitSize>48</BitSize>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>00</DefaultData>
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											<DefaultData>0000</DefaultData>
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										<Name>SubIndex 002</Name>
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											<DefaultData>0000</DefaultData>
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								<Index>#x1C13</Index>
								<Name>TxPDO assign</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>0000</DefaultData>
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									<SubItem>
										<Name>SubIndex 002</Name>
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											<DefaultData>0000</DefaultData>
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							<Object>
								<Index>#x1C32</Index>
								<Name>SM output parameter</Name>
								<Type>DT1C32</Type>
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								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
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											<DefaultData>20</DefaultData>
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									<SubItem>
										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>0100</DefaultData>
										</Info>
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									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
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										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>E0790000</DefaultData>
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								</Info>
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							<Object>
								<Index>#x1C33</Index>
								<Name>SM input parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>488</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
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											<DefaultData>20</DefaultData>
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										<Name>Synchronization Type</Name>
										<Info>
											<DefaultData>2200</DefaultData>
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									<SubItem>
										<Name>Synchronization Types supported</Name>
										<Info>
											<DefaultData>0780</DefaultData>
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									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>E0790000</DefaultData>
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								<Index>#xF000</Index>
								<Name>Modular Device Profile</Name>
								<Type>DTF000</Type>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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										<Name>Index distance</Name>
										<Info>
											<DefaultData>0080</DefaultData>
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									<SubItem>
										<Name>Maximum number of modules</Name>
										<Info>
											<DefaultData>0200</DefaultData>
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							<Object>
								<Index>#xF010</Index>
								<Name>Module Profile List</Name>
								<Type>DTF010</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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										<Info>
											<DefaultData>02000000</DefaultData>
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									<SubItem>
										<Name>SubIndex 002</Name>
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											<DefaultData>00000000</DefaultData>
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							<Object>
								<Index>#xF030</Index>
								<Name>Configured Module Ident List</Name>
								<Type>DTF030</Type>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
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											<DefaultData>00983100</DefaultData>
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								<Index>#xF050</Index>
								<Name>Module detected list</Name>
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										<Name>SubIndex 000</Name>
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				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
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				<Sm MinSize="#x24" MaxSize="#x10C" DefaultSize="#x80" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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						<Name>DC</Name>
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						<Name>Axis 0</Name>
						<ModuleIdent Default="0">#x119800</ModuleIdent>
						<ModuleIdent Default="0">#x219800</ModuleIdent>
						<ModuleIdent Default="1">#x319800</ModuleIdent>
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						<Name>Axis 1</Name>
						<ModuleIdent Default="0">#x119800</ModuleIdent>
						<ModuleIdent Default="0">#x219800</ModuleIdent>
						<ModuleIdent Default="0">#x319800</ModuleIdent>
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		<Modules>
			<Module>
				<Type ModuleIdent="#x119800">csv,csp - axis</Type>
				<Name>dynamic switch bewteen csp/csv</Name>
				<RxPdo Fixed="true" Sm="2">
					<Index DependOnSlot="true">#x1600</Index>
					<Name>Outputs</Name>
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						<Index DependOnSlot="true">#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<Comment>object 0x6040:0</Comment>
						<DataType>UINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>TargetPosition</Name>
						<Comment>object 0x607A:0</Comment>
						<DataType>DINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>TargetVelocity</Name>
						<Comment>object 0x60FF:0</Comment>
						<DataType>DINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>ModeOfOperation</Name>
						<Comment>object 0x6060:0</Comment>
						<DataType>USINT</DataType>
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					<Entry>
						<Index>0</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
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				<TxPdo Fixed="true" Sm="3">
					<Index DependOnSlot="true">#x1a00</Index>
					<Name>Inputs</Name>
					<Entry>
						<Index DependOnSlot="true">#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<Comment>object 0x6041:0</Comment>
						<DataType>UINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualPosition</Name>
						<Comment>object 0x6064:0</Comment>
						<DataType>DINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x606C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<Comment>object 0x606C:0</Comment>
						<DataType>DINT</DataType>
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					<Entry>
						<Index DependOnSlot="true">#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>ModeOfOperationDisplay</Name>
						<Comment>object 0x6061:0</Comment>
						<DataType>USINT</DataType>
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					<Entry>
						<Index>0</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
					</Entry>
				</TxPdo>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<AddInfo>2</AddInfo>
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						<DataTypes>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
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							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>DT607DARR</Name>
								<BaseType>DINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
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								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT607DARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
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								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Interpolation time period value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
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									<Access>ro</Access>
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								<Index DependOnSlot="true">#x606C</Index>
								<Name>Velocity actual value</Name>
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									<Access>ro</Access>
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								<Name>Quick stop deceleration</Name>
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									<Access>rw</Access>
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								<Index DependOnSlot="true">#x60FF</Index>
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									<Access>rw</Access>
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				<Type ModuleIdent="#x219800">csp - axis</Type>
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					<Name>Outputs</Name>
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						<Index DependOnSlot="true">#x6040</Index>
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							<Object>
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								<Name>Shutdown option code</Name>
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								<Name>Modes of operation</Name>
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								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x605A</Index>
								<Name>Quick stop option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x605B</Index>
								<Name>Shutdown option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x605C</Index>
								<Name>Disable operation option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x605E</Index>
								<Name>Fault reaction option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6060</Index>
								<Name>Modes of operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6061</Index>
								<Name>Modes of operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6064</Index>
								<Name>Position actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x606C</Index>
								<Name>Velocity actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6077</Index>
								<Name>Torque actual value</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x607D</Index>
								<Name>Software position limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x607A</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6085</Index>
								<Name>Quick stop deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x60C2</Index>
								<Name>Interpolation time period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x60FF</Index>
								<Name>Target velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index DependOnSlot="true">#x6502</Index>
								<Name>Supported drive modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
			</Module>
		</Modules>
	</Descriptions>
</EtherCATInfo>