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                <Index>#x2004</Index>
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                <Info>
                  <DefaultData>1400</DefaultData>
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                <Index>#x200E</Index>
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                <Info>
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                <Flags>
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                <Info>
                  <DefaultData>0700</DefaultData>
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                <Flags>
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                <Index>#x2014</Index>
                <Name>Micro_step_Custom</Name>
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                <Index>#x2015</Index>
                <Name>Reserve</Name>
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                  <DefaultData>0000</DefaultData>
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                <Index>#x2016</Index>
                <Name>Reserve</Name>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Index>#x2017</Index>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                <Index>#x2018</Index>
                <Name>Reserve</Name>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Index>#x2019</Index>
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                  <DefaultData>1400</DefaultData>
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                <Index>#x201A</Index>
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                  <DefaultData>0A00</DefaultData>
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                <Index>#x201B</Index>
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                  <DefaultData>0100</DefaultData>
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                <Index>#x201C</Index>
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                <Index>#x201D</Index>
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                <Index>#x201E</Index>
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                <Index>#x201F</Index>
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                  <DefaultData>A00F</DefaultData>
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                <Index>#x2020</Index>
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                <Index>#x2021</Index>
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                <Index>#x2022</Index>
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                  <DefaultData>0900</DefaultData>
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                <Index>#x2024</Index>
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                <Index>#x2025</Index>
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                  <DefaultData>0000</DefaultData>
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                <Index>#x202C</Index>
                <Name>Pa_Limit_Warn</Name>
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                  <DefaultData>0000</DefaultData>
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                <Index>#x202F</Index>
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                  <DefaultData>0000</DefaultData>
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                <Flags>
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                <Index>#x2032</Index>
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                  <DefaultData>0100</DefaultData>
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                <Flags>
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                <Index>#x2033</Index>
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                  <BitOffs>272</BitOffs>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SubIndex 010</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SubIndex 011</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SubIndex 012</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
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                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C00ARR</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
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                  <LBound>1</LBound>
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              <DataType>
                <Name>DT1C12</Name>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
                  <Name>Elements</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
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                  <LBound>1</LBound>
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              <DataType>
                <Name>DT1C13</Name>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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              <DataType>
                <Name>DT1C32</Name>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
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                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
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                  <BitOffs>304</BitOffs>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT1C33</Name>
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                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
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                  <Name>Synchronization Types supported</Name>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                    <Access>rw</Access>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Access>rw</Access>
                    <Category>o</Category>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                </SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
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                <Name>DT607B</Name>
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                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>min_position_range_limit</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>max_position_range_limit</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
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              <DataType>
                <Name>DT607D</Name>
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                  <Name>SubIndex 000</Name>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
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                <Name>DT608F</Name>
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                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>encoder_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>motor_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
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              <DataType>
                <Name>DT6091</Name>
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                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>drive_resolution</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
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                </SubItem>
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                <Name>DT6092</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>micro_step</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
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                <SubItem>
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                    <Category>m</Category>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
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                <SubItem>
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                    <Access>rw</Access>
                    <Category>m</Category>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                <SubItem>
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                <Index>#x1000</Index>
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                  <DefaultData>00</DefaultData>
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                  <Category>o</Category>
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                <Index>#x1008</Index>
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                  <DefaultData>324843533836382D4543</DefaultData>
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                  <DefaultData>312E31</DefaultData>
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                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
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                <Type>STRING(4)</Type>
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                <Info>
                  <DefaultData>312E3131</DefaultData>
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                <Flags>
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                  <Category>o</Category>
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                <BitSize>144</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
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                      <DefaultData>04</DefaultData>
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                  <SubItem>
                    <Name>Vendor ID</Name>
                    <Info>
                      <DefaultData>88886666</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Product code</Name>
                    <Info>
                      <DefaultData>11332020</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Revision</Name>
                    <Info>
                      <DefaultData>20122020</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Serial number</Name>
                    <Info>
                      <DefaultData>20122020</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
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                <Index>#x10F1</Index>
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                <BitSize>64</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
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                      <DefaultData>02</DefaultData>
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                  <SubItem>
                    <Name>Local Error Reaction</Name>
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                      <DefaultData>01000000</DefaultData>
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                  <SubItem>
                    <Name>Sync Error Counter Limit</Name>
                    <Info>
                      <DefaultData>0400</DefaultData>
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                </Info>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                    <Category>c</Category>
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                    <Category>o</Category>
                  </Flags>
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                    <Category>c</Category>
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                <SubItem>
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                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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              <Object>
                <Index>#x1A00</Index>
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              <Object>
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              <Object>
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              <Object>
                <Index>#x1C13</Index>
                <Name>SM3 assignment</Name>
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              <Object>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
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                    <Info>
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                  <SubItem>
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              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
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                    <Info>
                      <DefaultData>20</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Types supported</Name>
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                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Calc and Copy Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
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                <Index>#x2000</Index>
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                  <DefaultData>0000</DefaultData>
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              <Object>
                <Index>#x2001</Index>
                <Name>Current_Kp</Name>
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                  <DefaultData>E803</DefaultData>
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                <Index>#x2002</Index>
                <Name>Current_Ki</Name>
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                <Info>
                  <DefaultData>6400</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x2003</Index>
                <Name>Current_Damper</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>0A00</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x2004</Index>
                <Name>Posisation_Kp</Name>
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                <Info>
                  <DefaultData>B80B</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2005</Index>
                <Name>Posisation_Stop_Kp</Name>
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                  <DefaultData>C800</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x2006</Index>
                <Name>Velocity_Kp</Name>
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                  <DefaultData>5802</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x2007</Index>
                <Name>Velocity_Ki</Name>
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                  <DefaultData>E803</DefaultData>
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              <Object>
                <Index>#x2008</Index>
                <Name>Amp_Open</Name>
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                <Info>
                  <DefaultData>1E00</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2009</Index>
                <Name>Amp_Close</Name>
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                <Info>
                  <DefaultData>1400</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x200A</Index>
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                  <DefaultData>0100</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x200B</Index>
                <Name>Dir_level</Name>
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                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x200C</Index>
                <Name>Input_level</Name>
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                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x200D</Index>
                <Name>Enable_level</Name>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x200E</Index>
                <Name>Arrive_level</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0100</DefaultData>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              </Object>
              <Object>
                <Index>#x200F</Index>
                <Name>Encoder_Line</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>0000</DefaultData>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
                </Flags>
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              <Object>
                <Index>#x2010</Index>
                <Name>Pos_Error_Max</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>9001</DefaultData>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x2011</Index>
                <Name>Micro_step_Factory</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0A00</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
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              <Object>
                <Index>#x1C12</Index>
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              <Object>
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                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                    <Name>Synchronization Types supported</Name>
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                      <DefaultData>0780</DefaultData>
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                    <Name>SM-Event Missed</Name>
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              <Object>
                <Index>#x1C33</Index>
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                <Index>#x2009</Index>
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                <Index>#x2014</Index>
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                <Index>#x2015</Index>
                <Name>Reserve</Name>
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                <Index>#x2016</Index>
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                <Index>#x2017</Index>
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                <Index>#x2018</Index>
                <Name>Reserve</Name>
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                <Index>#x2019</Index>
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                <Index>#x201B</Index>
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                <Index>#x201C</Index>
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                <Index>#x201D</Index>
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                <Index>#x201F</Index>
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                <Index>#x2020</Index>
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                <Index>#x2021</Index>
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                <Index>#x2022</Index>
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                  <DefaultData>0900</DefaultData>
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                <Index>#x2023</Index>
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                <Index>#x2024</Index>
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                <Index>#x2025</Index>
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                <Index>#x2026</Index>
                <Name>Reserve</Name>
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                <Index>#x2027</Index>
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                <Index>#x2028</Index>
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                <Index>#x2029</Index>
                <Name>Limit_Alarm</Name>
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                <Flags>
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                <Index>#x6007</Index>
                <Name>Abort_connection_option_code</Name>
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                  <DefaultData>0100</DefaultData>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                    <Access>rw</Access>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Category>o</Category>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
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                <SubItem>
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                  <Flags>
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                    <Category>o</Category>
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                    <Category>c</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                    <Category>m</Category>
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                    <Category>m</Category>
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                    <Category>m</Category>
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              <DataType>
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                    <Category>m</Category>
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                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
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                <SubItem>
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                    <Category>m</Category>
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                    <Category>m</Category>
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                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>motor_resolution</Name>
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                  <Flags>
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                    <Category>m</Category>
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                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
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                  <Name>drive_resolution</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
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              <DataType>
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                <SubItem>
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                    <Category>m</Category>
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                <SubItem>
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                </SubItem>
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              <DataType>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
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              <Object>
                <Index>#x1C12</Index>
                <Name>SM2 assignment</Name>
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              <Object>
                <Index>#x1C13</Index>
                <Name>SM3 assignment</Name>
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              <Object>
                <Index>#x1C32</Index>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                    <Name>Synchronization Type</Name>
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                      <DefaultData>0100</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Types supported</Name>
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                      <DefaultData>0780</DefaultData>
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              <Object>
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                      <DefaultData>20</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                <Index>#x2000</Index>
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                <Index>#x2001</Index>
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                <Index>#x2002</Index>
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                <Index>#x2003</Index>
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                  <DefaultData>0A00</DefaultData>
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                <Index>#x2004</Index>
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                <Index>#x2005</Index>
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                <Index>#x2006</Index>
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                  <DefaultData>5802</DefaultData>
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                <Index>#x2007</Index>
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                <Index>#x2008</Index>
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                  <DefaultData>1E00</DefaultData>
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                <Flags>
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                <Index>#x2009</Index>
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                <Info>
                  <DefaultData>1400</DefaultData>
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                <Flags>
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                <Index>#x200A</Index>
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                <Index>#x200B</Index>
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                <Index>#x200C</Index>
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                <Index>#x200D</Index>
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                <Index>#x200E</Index>
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                  <DefaultData>0100</DefaultData>
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                <Index>#x200F</Index>
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                  <DefaultData>0000</DefaultData>
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                <Index>#x2010</Index>
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                  <DefaultData>9001</DefaultData>
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                <Index>#x2011</Index>
                <Name>Micro_step_Factory</Name>
                <Type>UINT</Type>
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                  <DefaultData>0A00</DefaultData>
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                <Flags>
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                <Index>#x2012</Index>
                <Name>Actpos_Encoder</Name>
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                <Info>
                  <DefaultData>0100</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
                </Flags>
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                <Index>#x2013</Index>
                <Name>Smooth</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0700</DefaultData>
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                <Flags>
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              <Object>
                <Index>#x2014</Index>
                <Name>Micro_step_Custom</Name>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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                <Index>#x2015</Index>
                <Name>Reserve</Name>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2016</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2017</Index>
                <Name>Enable_Lock</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2018</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
                </Flags>
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                <Index>#x2019</Index>
                <Name>Open_Close_Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>1400</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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                <Index>#x201A</Index>
                <Name>Arrive_Range</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>0A00</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x201B</Index>
                <Name>Open_Close_Switch</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>0100</DefaultData>
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                <Flags>
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                  <Category>m</Category>
                </Flags>
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              <Object>
                <Index>#x201C</Index>
                <Name>Motor_L</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x201D</Index>
                <Name>Motor_Register</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x201E</Index>
                <Name>Motor_Phase_Check</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x201F</Index>
                <Name>Test_Pos</Name>
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                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>A00F</DefaultData>
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                <Flags>
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                  <Category>m</Category>
                </Flags>
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              <Object>
                <Index>#x2020</Index>
                <Name>Test_Time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0A00</DefaultData>
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                <Flags>
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                  <Category>m</Category>
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              <Object>
                <Index>#x2021</Index>
                <Name>Test_Start</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2022</Index>
                <Name>Test_Acc</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0900</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2023</Index>
                <Name>Test_Vel</Name>
                <Type>UINT</Type>
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                <Info>
                  <DefaultData>F000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2024</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2025</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2026</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2027</Index>
                <Name>Reserve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <DefaultData>0000</DefaultData>
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                <Flags>
                  <Access>rw</Access>
                  <Category>m</Category>
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              <Object>
                <Index>#x2028</Index>
                <Name>Device_ID</Name>
                <Type>UINT</Type>
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                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </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>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2000</Name>
                <BitSize>512</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_MotorID</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_MotorRateSpd</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_MotorRateTrq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_MotorRateCur</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_MotorInertia</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_MotorPoles</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_MotorEncType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_RotEnc_Ppr</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_MotorRotEncZCnt</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_MotorEncUVW001</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_MotorEncUVW010</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_MotorEncUVW011</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_MotorEncUVW100</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_MotorEncUVW101</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_MotorEncUVW110</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_PowerOnDis</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_Rs232Baud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_CanId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_ModbusId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_ModbusBaud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_ModbusSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_ModbusRespDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>28</SubIdx>
                  <Name>gu16_e_CanBaudrate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>29</SubIdx>
                  <Name>gu16_e_ModbusType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_RegenResSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_RegenRes2Power</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_RegenRes2Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>432</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_RegenResCheck</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_Enb_AlarmTemper</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>464</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_Enb_AlarmPower</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>43</SubIdx>
                  <Name>gu16_e_Alarm808OVLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>496</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2001</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gb_XMotorDir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_CtrlMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TurnLessMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_TurnRespLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_LoadIneriaRatio</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_BrkOnSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ServoOnCrtl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>384</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_PosKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdKi1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdKfv1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_SpdKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdKi2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdKfv2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_SpdIntErrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>gu16_e_TrqKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_TrqKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_GainSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_GainSwitchLevel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_GainSwitchHyst</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_GainSwitchDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_GainSwitchKppDelay</Name>
                  <Type>UINT</Type>
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                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ModeSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_ModeSwitchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>gu16_e_TrqCmdAdd</Name>
                  <Type>INT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>gu16_e_TrqCmdCompPos</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>53</SubIdx>
                  <Name>gu16_e_TrqCmdCompNeg</Name>
                  <Type>INT</Type>
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                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT2003</Name>
                <BitSize>272</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gb_XPosCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>pulse_filter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_PosCmdCoinSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_PosCmdCoinLevel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>gu16_e_PosPulseCmdPPR</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_PosElcgearNum1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_PosElcgearDen1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_PosElcgearNum2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_PosElcgearDen2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_PosErrOvrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_PosKsf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gb_XPosFbkSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_PosIncEncDivNum</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_PosIncEncDivDen</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_PosAbsEncDivScl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2004</Name>
                <BitSize>352</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_SpdCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_SpdAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_SpdCmdValue</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampEnb</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_SpdOvSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_SpdPosSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_SpdNegSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdZeroSpdLevel</Name>
                  <Type>UINT</Type>
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                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdRotSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdCoin</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdAccTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdDecTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_SpdIoValue1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_SpdIoValue2</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_SpdIoValue3</Name>
                  <Type>UINT</Type>
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                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_SpdIoValue4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_SpdIoValue5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>36</SubIdx>
                  <Name>gu16_e_SpdIoValue6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>37</SubIdx>
                  <Name>gu16_e_SpdIoValue7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>38</SubIdx>
                  <Name>gu16_e_SpdIoValue8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_TrqCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_TrqAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TrqSpdLim</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_TrqLimSel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_TrqLimOuputDelay</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_TrqLimNNL</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>gu16_e_IPort5_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
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                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_IPort7_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_IPort7_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_IPort8_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_IPort8_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_OPort1_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_OPort1_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_OPort2_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_OPort2_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_OPort3_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_OPort3_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_OPort4_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>28</SubIdx>
                  <Name>gu16_e_OPort4_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>29</SubIdx>
                  <Name>gu16_e_OPort5_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>30</SubIdx>
                  <Name>gu16_e_OPort5_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2008</Name>
                <BitSize>416</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_LoadJIdentifyMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_LoadJIdentifySpd</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_LoadJIdentifyAcc</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_LoadJIdentifyWait</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_LoadJIdentifyDist</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_AutoNotchMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_AutoNotchSource</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_AutoNotchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>gu16_e_SpdFbkFir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_TrqCmdFir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_TrqCmdFir2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_DistuTrqCompGain</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_DistuTrqCompFir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_TrqNotch1Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_TrqNotch1Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_TrqNotch1Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_TrqNotch2Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_TrqNotch2Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>36</SubIdx>
                  <Name>gu16_e_TrqNotch2Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>37</SubIdx>
                  <Name>gu16_e_TrqNotch3Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>38</SubIdx>
                  <Name>gu16_e_TrqNotch3Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>39</SubIdx>
                  <Name>gu16_e_TrqNotch3Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>40</SubIdx>
                  <Name>gu16_e_TrqNotch4Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_TrqNotch4Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_TrqNotch4Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT603E</Name>
                <BitSize>24</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Tpdo0Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Tpdo1Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>17</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Tpdo2Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>18</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Tpdo3Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>19</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>min_position_range_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>max_position_range_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </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>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>min_position_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>max_position_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT608F</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>encoder_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>motor_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6091</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>motor_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>drive_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6092</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>micro_step</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>drive_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>home_switch_velocity</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>home_zero_velocity</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </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>
                    <Category>m</Category>
                  </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>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation_time_index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>24</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>physical_outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>bit_mask</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>92010200</DefaultData>
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                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Info>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>0116</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>0216</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>0316</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SM3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>001A</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>011A</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>021A</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>031A</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Motor_Drive</Name>
                <Type>DT2000</Type>
                <BitSize>512</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>2B</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorID</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateSpd</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateTrq</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateCur</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorInertia</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorPoles</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncType</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RotEnc_Ppr</Name>
                    <Info>
                      <DefaultData>010000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRotEncZCnt</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW001</Name>
                    <Info>
                      <DefaultData>1500</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW010</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW011</Name>
                    <Info>
                      <DefaultData>9000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW100</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW101</Name>
                    <Info>
                      <DefaultData>2100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW110</Name>
                    <Info>
                      <DefaultData>3300</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PowerOnDis</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Rs232Baud</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_CanId</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusId</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusBaud</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusSet</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusRespDelay</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_CanBaudrate</Name>
                    <Info>
                      <DefaultData>6000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusType</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RegenResSet</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RegenRes2Power</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RegenRes2Value</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RegenResCheck</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Enb_AlarmTemper</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Enb_AlarmPower</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Alarm808OVLevel</Name>
                    <Info>
                      <DefaultData>1300</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>Control</Name>
                <Type>DT2001</Type>
                <BitSize>160</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>29</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gb_XMotorDir</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_CtrlMode</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TurnLessMode</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TurnRespLevel</Name>
                    <Info>
                      <DefaultData>1300</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_LoadIneriaRatio</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Fpga_HldBrkCtrl1</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_BrkOnSpdLevel</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_Fpga_HldBrkCtrl2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ServoOnCrtl</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>Gain</Name>
                <Type>DT2002</Type>
                <BitSize>384</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>35</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosKp1</Name>
                    <Info>
                      <DefaultData>4800</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosKp2</Name>
                    <Info>
                      <DefaultData>5700</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKf</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKff</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKp1</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKi1</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKfv1</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKp2</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKi2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKfv2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIntErrLim</Name>
                    <Info>
                      <DefaultData>025000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TrqKf</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TrqKff</Name>
                    <Info>
                      <DefaultData>8000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchSel</Name>
                    <Info>
                      <DefaultData>7000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchLevel</Name>
                    <Info>
                      <DefaultData>8000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchHyst</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchDelay</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchKppDelay</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModeSwitchSel</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModeSwitchLevel</Name>
                    <Info>
                      <DefaultData>010000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TrqCmdAdd</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TrqCmdCompPos</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_TrqCmdCompNeg</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
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              <Object>
                <Index>#x2003</Index>
                <Name>Pos</Name>
                <Type>DT2003</Type>
                <BitSize>272</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>1A</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_PosCmdSel</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gb_XPosCmdInv</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>pulse_filter</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_PosCmdCoinSet</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosCmdCoinLevel</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosPulseCmdPPR</Name>
                    <Info>
                      <DefaultData>010000</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosElcgearDen1</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosElcgearNum2</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_PosElcgearDen2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosErrOvrLim</Name>
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                      <DefaultData>030000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosKsf</Name>
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                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gb_XPosFbkSel</Name>
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                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosIncEncDivNum</Name>
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                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosIncEncDivDen</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosAbsEncDivScl</Name>
                    <Info>
                      <DefaultData>2500</DefaultData>
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              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>Vel</Name>
                <Type>DT2004</Type>
                <BitSize>352</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>26</DefaultData>
                    </Info>
                  </SubItem>
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                    <Name>gu16_e_SpdCmdSel</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdAnlCmdInv</Name>
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                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdCmdValue</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdZeroSpdClampEnb</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdZeroSpdClampLevel</Name>
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                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdOvSpdLevel</Name>
                    <Info>
                      <DefaultData>6400</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdPosSpdLim</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdNegSpdLim</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdZeroSpdLevel</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdRotSpdLevel</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>gu16_e_SpdCoin</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdAccTime</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdDecTime</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue1</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdIoValue2</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue3</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue4</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdIoValue5</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue6</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue7</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdIoValue8</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
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                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>64</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>
                    <Category>m</Category>
                  </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>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </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>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2000</Name>
                <BitSize>512</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_MotorID</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_MotorRateSpd</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_MotorRateTrq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_MotorRateCur</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_MotorInertia</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_MotorPoles</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_MotorEncType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_RotEnc_Ppr</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_MotorRotEncZCnt</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_MotorEncUVW001</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_MotorEncUVW010</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_MotorEncUVW011</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_MotorEncUVW100</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_MotorEncUVW101</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_MotorEncUVW110</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_PowerOnDis</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_Rs232Baud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_CanId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_ModbusId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_ModbusBaud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_ModbusSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_ModbusRespDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>28</SubIdx>
                  <Name>gu16_e_CanBaudrate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>29</SubIdx>
                  <Name>gu16_e_ModbusType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_RegenResSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_RegenRes2Power</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_RegenRes2Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>432</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_RegenResCheck</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_Enb_AlarmTemper</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>464</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_Enb_AlarmPower</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>43</SubIdx>
                  <Name>gu16_e_Alarm808OVLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>496</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2001</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gb_XMotorDir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_CtrlMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TurnLessMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_TurnRespLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_LoadIneriaRatio</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_BrkOnSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ServoOnCrtl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>384</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_PosKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdKi1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdKfv1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_SpdKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdKi2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdKfv2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_SpdIntErrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>gu16_e_TrqKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_TrqKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_GainSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_GainSwitchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_GainSwitchHyst</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_GainSwitchDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_GainSwitchKppDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ModeSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_ModeSwitchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>gu16_e_TrqCmdAdd</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>gu16_e_TrqCmdCompPos</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>53</SubIdx>
                  <Name>gu16_e_TrqCmdCompNeg</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>272</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gb_XPosCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>pulse_filter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_PosCmdCoinSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_PosCmdCoinLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>gu16_e_PosPulseCmdPPR</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_PosElcgearNum1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_PosElcgearDen1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_PosElcgearNum2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_PosElcgearDen2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_PosErrOvrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_PosKsf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gb_XPosFbkSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_PosIncEncDivNum</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_PosIncEncDivDen</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_PosAbsEncDivScl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2004</Name>
                <BitSize>352</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_SpdCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_SpdAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_SpdCmdValue</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampEnb</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_SpdOvSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_SpdPosSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_SpdNegSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdZeroSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdRotSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdCoin</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdAccTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdDecTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_SpdIoValue1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_SpdIoValue2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_SpdIoValue3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_SpdIoValue4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_SpdIoValue5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>36</SubIdx>
                  <Name>gu16_e_SpdIoValue6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>37</SubIdx>
                  <Name>gu16_e_SpdIoValue7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>38</SubIdx>
                  <Name>gu16_e_SpdIoValue8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_TrqCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_TrqAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TrqSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
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                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_TrqLimOuputDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_TrqLimP</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_TrqLimN</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_TrqLimNNL</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_IPort1_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_IPort1_Sel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_IPort2_Sel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_IPort3_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_IPort3_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_IPort4_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_IPort4_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>gu16_e_IPort5_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>gu16_e_IPort5_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_IPort6_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_IPort6_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_IPort7_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_IPort7_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_IPort8_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_IPort8_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_OPort1_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_OPort1_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_OPort2_En</Name>
                  <Type>UINT</Type>
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                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_OPort2_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_OPort3_En</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_OPort3_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_OPort4_En</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>28</SubIdx>
                  <Name>gu16_e_OPort4_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>29</SubIdx>
                  <Name>gu16_e_OPort5_En</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>30</SubIdx>
                  <Name>gu16_e_OPort5_Sel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2008</Name>
                <BitSize>416</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_LoadJIdentifyMode</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_LoadJIdentifySpd</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_LoadJIdentifyAcc</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_LoadJIdentifyWait</Name>
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                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_LoadJIdentifyDist</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_AutoNotchMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_AutoNotchSource</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_AutoNotchLevel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>gu16_e_SpdFbkFir</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_TrqCmdFir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_TrqCmdFir2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_DistuTrqCompGain</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_DistuTrqCompFir</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_TrqNotch1Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_TrqNotch1Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_TrqNotch1Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_TrqNotch2Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_TrqNotch2Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>36</SubIdx>
                  <Name>gu16_e_TrqNotch2Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>37</SubIdx>
                  <Name>gu16_e_TrqNotch3Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>38</SubIdx>
                  <Name>gu16_e_TrqNotch3Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>39</SubIdx>
                  <Name>gu16_e_TrqNotch3Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>40</SubIdx>
                  <Name>gu16_e_TrqNotch4Frq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_TrqNotch4Width</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_TrqNotch4Depth</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT603E</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Tpdo0Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Tpdo1Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>17</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Tpdo2Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>18</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Tpdo3Invalid</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>19</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607B</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>min_position_range_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </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>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>min_position_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>max_position_limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT608F</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>encoder_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>motor_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6091</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>motor_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>drive_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6092</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>micro_step</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>drive_resolution</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT6099</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>home_switch_velocity</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>home_zero_velocity</Name>
                  <Type>UDINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT60C2</Name>
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                <SubItem>
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                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
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                    <Name>SubIndex 006</Name>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 007</Name>
                    <Info>
                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 008</Name>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 009</Name>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 010</Name>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 011</Name>
                    <Info>
                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 012</Name>
                    <Info>
                      <DefaultData>FFFFFFFF</DefaultData>
                    </Info>
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              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 002</Name>
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                      <DefaultData>02</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 003</Name>
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                      <DefaultData>03</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SM2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>0016</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 002</Name>
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                      <DefaultData>0116</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 003</Name>
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                      <DefaultData>0216</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>0316</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SM3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 001</Name>
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                      <DefaultData>001A</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>SubIndex 002</Name>
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                      <DefaultData>011A</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 003</Name>
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                      <DefaultData>021A</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>031A</DefaultData>
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                </Info>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
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                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
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                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Motor_Drive</Name>
                <Type>DT2000</Type>
                <BitSize>512</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>2B</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorID</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateSpd</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateTrq</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateCur</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorInertia</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorPoles</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncType</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RotEnc_Ppr</Name>
                    <Info>
                      <DefaultData>010000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRotEncZCnt</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW001</Name>
                    <Info>
                      <DefaultData>1500</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW010</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW011</Name>
                    <Info>
                      <DefaultData>9000</DefaultData>
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                    <Name>gu16_e_MotorEncUVW100</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW101</Name>
                    <Info>
                      <DefaultData>2100</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW110</Name>
                    <Info>
                      <DefaultData>3300</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_PowerOnDis</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_Rs232Baud</Name>
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                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_CanId</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_ModbusId</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_ModbusBaud</Name>
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                      <DefaultData>2000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_ModbusSet</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_ModbusRespDelay</Name>
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                  <SubItem>
                    <Name>gu16_e_CanBaudrate</Name>
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                      <DefaultData>6000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_ModbusType</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RegenResSet</Name>
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                      <DefaultData>2000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RegenRes2Power</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_RegenRes2Value</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RegenResCheck</Name>
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                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_Enb_AlarmTemper</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_Enb_AlarmPower</Name>
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                      <DefaultData>1000</DefaultData>
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                      <DefaultData>1300</DefaultData>
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                <Name>Control</Name>
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                <BitSize>160</BitSize>
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                    <Info>
                      <DefaultData>29</DefaultData>
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                    <Info>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
                      <DefaultData>1300</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_BrkOnSpdLevel</Name>
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                      <DefaultData>1000</DefaultData>
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                    <Name>gu16_e_Fpga_HldBrkCtrl2</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_ServoOnCrtl</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                <Index>#x2002</Index>
                <Name>Gain</Name>
                <Type>DT2002</Type>
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                      <DefaultData>35</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_PosKp2</Name>
                    <Info>
                      <DefaultData>5700</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdKf</Name>
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                      <DefaultData>3000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKff</Name>
                    <Info>
                      <DefaultData>5000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKp1</Name>
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                      <DefaultData>2700</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdKi1</Name>
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                  <SubItem>
                    <Name>gu16_e_SpdKfv1</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKp2</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKi2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdKfv2</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                    <Name>gu16_e_SpdIntErrLim</Name>
                    <Info>
                      <DefaultData>025000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_TrqKf</Name>
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                      <DefaultData>0000</DefaultData>
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                    <Name>gu16_e_TrqKff</Name>
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                      <DefaultData>8000</DefaultData>
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                    <Name>gu16_e_GainSwitchSel</Name>
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                      <DefaultData>7000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchLevel</Name>
                    <Info>
                      <DefaultData>8000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_GainSwitchHyst</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                    <Name>gu16_e_GainSwitchDelay</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_GainSwitchKppDelay</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                    <Name>gu16_e_PosAbsEncDivScl</Name>
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              <Object>
                <Index>#x2004</Index>
                <Name>Vel</Name>
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                    <Info>
                      <DefaultData>26</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdZeroSpdClampLevel</Name>
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                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_SpdOvSpdLevel</Name>
                    <Info>
                      <DefaultData>6400</DefaultData>
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                  </SubItem>
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              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
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                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
                  <Name>Elements</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>64</BitSize>
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                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C12ARR</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT1C13ARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>64</BitSize>
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                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
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              <DataType>
                <Name>DT1C13</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <Name>Elements</Name>
                  <Type>DT1C13ARR</Type>
                  <BitSize>64</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
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              <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>
                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </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>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </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>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2000</Name>
                <BitSize>512</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_MotorID</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_MotorRateSpd</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_MotorRateTrq</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_MotorRateCur</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_MotorInertia</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_MotorPoles</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_MotorEncType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_RotEnc_Ppr</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_MotorRotEncZCnt</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_MotorEncUVW001</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_MotorEncUVW010</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_MotorEncUVW011</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_MotorEncUVW100</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_MotorEncUVW101</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_MotorEncUVW110</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_PowerOnDis</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_Rs232Baud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_CanId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_ModbusId</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_ModbusBaud</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_ModbusSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
                  <Name>gu16_e_ModbusRespDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>28</SubIdx>
                  <Name>gu16_e_CanBaudrate</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>29</SubIdx>
                  <Name>gu16_e_ModbusType</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_RegenResSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>400</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_RegenRes2Power</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>416</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_RegenRes2Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>432</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_RegenResCheck</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>448</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_Enb_AlarmTemper</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>464</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_Enb_AlarmPower</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>43</SubIdx>
                  <Name>gu16_e_Alarm808OVLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>496</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2001</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gb_XMotorDir</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_CtrlMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TurnLessMode</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_TurnRespLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_LoadIneriaRatio</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_BrkOnSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_Fpga_HldBrkCtrl2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ServoOnCrtl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>384</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_PosKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdKp1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdKi1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdKfv1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_SpdKp2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdKi2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdKfv2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_SpdIntErrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>20</SubIdx>
                  <Name>gu16_e_TrqKf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_TrqKff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_GainSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_GainSwitchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_GainSwitchHyst</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_GainSwitchDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_GainSwitchKppDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>41</SubIdx>
                  <Name>gu16_e_ModeSwitchSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>42</SubIdx>
                  <Name>gu16_e_ModeSwitchLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>51</SubIdx>
                  <Name>gu16_e_TrqCmdAdd</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>52</SubIdx>
                  <Name>gu16_e_TrqCmdCompPos</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>352</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>53</SubIdx>
                  <Name>gu16_e_TrqCmdCompNeg</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>272</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_PosCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gb_XPosCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>pulse_filter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_PosCmdCoinSet</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_PosCmdCoinLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>gu16_e_PosPulseCmdPPR</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_PosElcgearNum1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_PosElcgearDen1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_PosElcgearNum2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_PosElcgearDen2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_PosErrOvrLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_PosKsf</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gb_XPosFbkSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_PosIncEncDivNum</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_PosIncEncDivDen</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_PosAbsEncDivScl</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2004</Name>
                <BitSize>352</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_SpdCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_SpdAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_SpdCmdValue</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampEnb</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_SpdZeroSpdClampLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_SpdOvSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_SpdPosSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>gu16_e_SpdNegSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_SpdZeroSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_SpdRotSpdLevel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>160</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_SpdCoin</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>15</SubIdx>
                  <Name>gu16_e_SpdAccTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>192</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>16</SubIdx>
                  <Name>gu16_e_SpdDecTime</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>31</SubIdx>
                  <Name>gu16_e_SpdIoValue1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>gu16_e_SpdIoValue2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>33</SubIdx>
                  <Name>gu16_e_SpdIoValue3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>34</SubIdx>
                  <Name>gu16_e_SpdIoValue4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>35</SubIdx>
                  <Name>gu16_e_SpdIoValue5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>36</SubIdx>
                  <Name>gu16_e_SpdIoValue6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>37</SubIdx>
                  <Name>gu16_e_SpdIoValue7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>38</SubIdx>
                  <Name>gu16_e_SpdIoValue8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>176</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_TrqCmdSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_TrqAnlCmdInv</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_TrqSpdLim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_TrqCmdValue</Name>
                  <Type>INT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>gu16_e_TrqLimSel</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_TrqLimOuputDelay</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_TrqLimP</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_TrqLimN</Name>
                  <Type>UINT</Type>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_TrqLimPPL</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_TrqLimNNL</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
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                <Name>DT2006</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>gu16_e_IPort1_En</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>gu16_e_IPort1_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>gu16_e_IPort2_En</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>gu16_e_IPort2_Sel</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>gu16_e_IPort3_En</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                  <Name>gu16_e_IPort3_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>gu16_e_IPort4_En</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Name>gu16_e_IPort4_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>gu16_e_IPort5_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>gu16_e_IPort5_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>gu16_e_IPort6_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>gu16_e_IPort6_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>gu16_e_IPort7_En</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>14</SubIdx>
                  <Name>gu16_e_IPort7_Sel</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>17</SubIdx>
                  <Name>gu16_e_IPort8_En</Name>
                  <Type>UINT</Type>
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                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>18</SubIdx>
                  <Name>gu16_e_IPort8_Sel</Name>
                  <Type>UINT</Type>
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                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>21</SubIdx>
                  <Name>gu16_e_OPort1_En</Name>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>22</SubIdx>
                  <Name>gu16_e_OPort1_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>23</SubIdx>
                  <Name>gu16_e_OPort2_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>24</SubIdx>
                  <Name>gu16_e_OPort2_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>25</SubIdx>
                  <Name>gu16_e_OPort3_En</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>26</SubIdx>
                  <Name>gu16_e_OPort3_Sel</Name>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>27</SubIdx>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                  <SubIdx>2</SubIdx>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
                  <SubIdx>3</SubIdx>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
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                    <Access>ro</Access>
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                    <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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                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Category>m</Category>
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                    <Category>m</Category>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                    <Category>m</Category>
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                <SubItem>
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                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>drive_resolution</Name>
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                <Type>DT1A02</Type>
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                      <DefaultData>0C</DefaultData>
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                      <DefaultData>10007760</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <SubItem>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                  <Access WriteRestrictions="PreOP">rw</Access>
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              </Object>
              <Object>
                <Index>#x1A03</Index>
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                    <Name>SubIndex 000</Name>
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                      <DefaultData>0C</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                      <DefaultData>FFFFFFFF</DefaultData>
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                      <DefaultData>04</DefaultData>
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                      <DefaultData>01</DefaultData>
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                      <DefaultData>02</DefaultData>
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                      <DefaultData>04</DefaultData>
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              <Object>
                <Index>#x1C12</Index>
                <Name>SM2 assignment</Name>
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                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
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                      <DefaultData>0016</DefaultData>
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                      <DefaultData>0116</DefaultData>
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                      <DefaultData>0216</DefaultData>
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                      <DefaultData>0316</DefaultData>
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              <Object>
                <Index>#x1C13</Index>
                <Name>SM3 assignment</Name>
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                      <DefaultData>01</DefaultData>
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                      <DefaultData>011A</DefaultData>
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                      <DefaultData>031A</DefaultData>
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              <Object>
                <Index>#x1C32</Index>
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                      <DefaultData>20</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                    <Name>Synchronization Types supported</Name>
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                      <DefaultData>0780</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
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                      <DefaultData>00000000</DefaultData>
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                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Delay Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Sync Error</Name>
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                      <DefaultData>00</DefaultData>
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                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
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                    <Info>
                      <DefaultData>20</DefaultData>
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                      <DefaultData>2200</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Types supported</Name>
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                      <DefaultData>0780</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                    <Name>Calc and Copy Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                      <DefaultData>00000000</DefaultData>
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                    <Name>Sync0 Cycle Time</Name>
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                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
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              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Motor_Drive</Name>
                <Type>DT2000</Type>
                <BitSize>512</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>2B</DefaultData>
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                  </SubItem>
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                    <Name>gu16_e_MotorID</Name>
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                      <DefaultData>2000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorRateSpd</Name>
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                      <DefaultData>3000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorRateTrq</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorRateCur</Name>
                    <Info>
                      <DefaultData>2000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorInertia</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorPoles</Name>
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                      <DefaultData>5000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncType</Name>
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                      <DefaultData>4000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RotEnc_Ppr</Name>
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                      <DefaultData>010000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorRotEncZCnt</Name>
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                      <DefaultData>4000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_MotorEncUVW001</Name>
                    <Info>
                      <DefaultData>1500</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW010</Name>
                    <Info>
                      <DefaultData>3000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW011</Name>
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                      <DefaultData>9000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW100</Name>
                    <Info>
                      <DefaultData>2700</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_MotorEncUVW101</Name>
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                      <DefaultData>2100</DefaultData>
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                  <SubItem>
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                      <DefaultData>3300</DefaultData>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                      <DefaultData>0000</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                      <DefaultData>2000</DefaultData>
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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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                      <DefaultData>2000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RegenRes2Power</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>gu16_e_RegenRes2Value</Name>
                    <Info>
                      <DefaultData>4000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_RegenResCheck</Name>
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                  <SubItem>
                    <Name>gu16_e_Enb_AlarmTemper</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                <BitSize>160</BitSize>
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                      <DefaultData>29</DefaultData>
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                  <SubItem>
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                      <DefaultData>1300</DefaultData>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                  <SubItem>
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                  <SubItem>
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                <Name>Gain</Name>
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                  <SubItem>
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                      <DefaultData>5700</DefaultData>
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                  <SubItem>
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                  <SubItem>
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                      <DefaultData>5000</DefaultData>
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                  </SubItem>
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                  <SubItem>
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                  <SubItem>
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                    <Info>
                      <DefaultData>2700</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdKi2</Name>
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                      <DefaultData>1000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_SpdKfv2</Name>
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                      <DefaultData>1000</DefaultData>
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                    <Name>gu16_e_SpdIntErrLim</Name>
                    <Info>
                      <DefaultData>025000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_TrqKf</Name>
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                    <Name>gu16_e_TrqKff</Name>
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                      <DefaultData>8000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_GainSwitchSel</Name>
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                      <DefaultData>7000</DefaultData>
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                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchLevel</Name>
                    <Info>
                      <DefaultData>8000</DefaultData>
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                  <SubItem>
                    <Name>gu16_e_GainSwitchHyst</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                    <Info>
                      <DefaultData>1000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>gu16_e_GainSwitchKppDelay</Name>
                    <Info>
                      <DefaultData>1000</DefaultData>
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                  <SubItem>
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                <BitSize>272</BitSize>
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                  <SubItem>
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            <Name>Touch_probe_pos2_pos_value</Name>
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            <Name>errorcode</Name>
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            <Name>Torque_actual_value</Name>
            <DataType>INT</DataType>
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          <Index>#x1A03</Index>
          <Name>TxPdoMapping</Name>
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        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="true" SegmentedSdo="true" CompleteAccess="true" PdoAssign="true" PdoConfig="true">
            <InitCmd>
              <Transition>PS</Transition>
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