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	</Vendor>
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				<Name LcId="1033">Servo Drives</Name>
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				<Type ProductCode="#x0" RevisionNo="#xAB">INVT_DA200_262</Type>
				<Name LcId="1033"><![CDATA[DA200-N EtherCAT(CoE) Drive]]></Name>
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										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync modes supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Minimum shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync modes supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Minimum shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
							</DataType>
							<DataType>								
								<Name>DT4300</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>index</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>status</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>							
							</DataType>
							<DataType>
								<Name>DT6046</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>vl velocity min amount</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>vl velocity max amount</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6047</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>vl velocity min pos</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>vl velocity max pos</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>vl velocity min neg</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>vl velocity max neg</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607B</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>										
									</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>										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position range limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</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>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Min soft position range limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max soft position range limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6093</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Numerator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Feed constant</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Speed during search for switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed during search for zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Physical outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>	
							<DataType>
								<Name>DTF000</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Module index distance</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Maximum number of modules</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DTF010ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>48</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>3</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DTF010</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DTF010ARR</Type>
									<BitSize>48</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>131474</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(19)</Type>
								<BitSize>152</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F4574686572434154</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(15)</Type>
								<BitSize>120</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F56322E30</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(16)</Type>
								<BitSize>128</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F56322E3632</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
											<DefaultData>00000616</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>07000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>DO RxPDO-Map0</Name>
								<Type>DT1600</Type>
								<BitSize>240</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>07</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20007a60</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>2000ff60</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>10007160</DefaultData>
										</Info>
									</SubItem>						
									<SubItem>
										<Name>SubIndex 005</Name>
										<Info>
											<DefaultData>08006060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 006</Name>
										<Info>
											<DefaultData>08000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 007</Name>
										<Info>
											<DefaultData>1000B860</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access WriteRestrictions="PreOP">rw</Access>									
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>DO RxPDO-Map1</Name>
								<Type>DT1601</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20007a60</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access WriteRestrictions="PreOP">rw</Access>									
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>DO RxPDO-Map2</Name>
								<Type>DT1602</Type>
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									<Access>rw</Access>
									
								</Flags>
							</Object>	
							<Object>
								<Index>#x224D</Index>
								<Name>[P2.77]Tuningless Disturb Observer Filter1(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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								</Flags>
							</Object>	
							<Object>
								<Index>#x224E</Index>
								<Name>[P2.78]Tuningless Disturb Observer Filter2(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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									<Access>rw</Access>
									
								</Flags>
							</Object>		
							<Object>
								<Index>#x224F</Index>
								<Name>[P2.79]Tuningless Speed Reference Phase Filter Enable </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>		
							<Object>
								<Index>#x2250</Index>
								<Name>[P2.80]Tuningless Speed observer gain</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>		
							<Object>
								<Index>#x2251</Index>
								<Name>[P2.81]Tuningless Speed Reference Filter(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>			
							<Object>
								<Index>#x2252</Index>
								<Name>[P2.82]Tuningless Speed Reference Phase Cmp(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>			
							<Object>
								<Index>#x2253</Index>
								<Name>[P2.83]Tuningless Disturb Compensate Torque Filter(0.01)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>			
							<Object>
								<Index>#x2254</Index>
								<Name>[P2.84]Tuningless Speed Observer Input Filter(0.01)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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								</Flags>
							</Object>				
							<Object>
								<Index>#x2255</Index>
								<Name>[P2.85]Torque feed-forward Select</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>									
							<Object>
								<Index>#x2256</Index>
								<Name>[P2.86]Fluxweakening function Select</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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								</Flags>
							</Object>	
							<Object>
								<Index>#x2257</Index>
								<Name>[P2.87]Fluxweakening Vdc Utilization Ratio(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>		
							<Object>
								<Index>#x2258</Index>
								<Name>[P2.88]Fluxweakening Openloop Bandwidth(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>	
							<Object>
								<Index>#x2259</Index>
								<Name>[P2.89]Fluxweakening Closeloop Bandwidth(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>	
							<Object>
								<Index>#x225A</Index>
								<Name>[P2.90]Max Id in Closeloop Fluxweakening(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>												
							<Object>
								<Index>#x2300</Index>
								<Name>[P3.00]Digital 1 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2301</Index>
								<Name>[P3.01]Digital 2 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2302</Index>
								<Name>[P3.02]Digital 3 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x2303</Index>
								<Name>[P3.03]Digital 4 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2304</Index>
								<Name>[P3.04]Digital 5 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2305</Index>
								<Name>[P3.05]Digital 6 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2306</Index>
								<Name>[P3.06]Digital 7 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x2307</Index>
								<Name>[P3.07]Digital 8 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x2308</Index>
								<Name>[P3.08]Digital 9 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x2309</Index>
								<Name>[P3.09]Digital 10 input selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>					
							<Object>
								<Index>#x230A</Index>
								<Name>[P3.10]Digital 1 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x230B</Index>
								<Name>[P3.11]Digital 2 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>				
							<Object>
								<Index>#x230C</Index>
								<Name>[P3.12]Digital 3 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>				
							<Object>
								<Index>#x230D</Index>
								<Name>[P3.13]Digital 4 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>				
							<Object>
								<Index>#x230E</Index>
								<Name>[P3.14]Digital 5 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>	
							<Object>
								<Index>#x230F</Index>
								<Name>[P3.15]Digital 6 output selection</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>						
							<Object>
								<Index>#x2310</Index>
								<Name>[P3.16]Mode of DI cap</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>			
							<Object>
								<Index>#x2314</Index>
								<Name>[P3.20]Offset of Analog input 1(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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								</Flags>
							</Object>			
							<Object>
								<Index>#x2315</Index>
								<Name>[P3.21]Filter time of Analog input 1(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>		
							<Object>
								<Index>#x2316</Index>
								<Name>[P3.22]Protect voltage of Analog input 1(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>					
							<Object>
								<Index>#x2317</Index>
								<Name>[P3.23]Offset of Analog input 2(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x2318</Index>
								<Name>[P3.24]Filter time of Analog input 2(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>					
							<Object>
								<Index>#x2319</Index>
								<Name>[P3.25]Protect voltage of Analog input 2(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x231A</Index>
								<Name>[P3.26]Function selection of Analog input 1 </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x231B</Index>
								<Name>[P3.27]Function selection of Analog input 2 </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>			
							<Object>
								<Index>#x231C</Index>
								<Name>[P3.28]Speed compensation gain from analog input(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>			
							<Object>
								<Index>#x231D</Index>
								<Name>[P3.29]Torque compensation gain from analog input(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x231E</Index>
								<Name>[P3.30]Analog output 1 selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>							
							<Object>
								<Index>#x231F</Index>
								<Name>[P3.31]Gain of Analog output 1</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>						
							<Object>
								<Index>#x2320</Index>
								<Name>[P3.32]Analog output 2 selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>								
							<Object>
								<Index>#x2321</Index>
								<Name>[P3.33]Gain of Analog output 2</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>							
							<Object>
								<Index>#x2322</Index>
								<Name>[P3.34]Offset of Analog output 1(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>							
							<Object>
								<Index>#x2323</Index>
								<Name>[P3.35]Offset of Analog output 2(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>							
							<Object>
								<Index>#x2324</Index>
								<Name>[P3.36]Analog output mode selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>									
							<Object>
								<Index>#x2328</Index>
								<Name>[P3.40]Travel limit switch masking</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>												
							<Object>
								<Index>#x2329</Index>
								<Name>[P3.41]Emergency stop masking</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>									
							<Object>
								<Index>#x232B</Index>
								<Name>[P3.43]Sampling period of digital input</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>									
							<Object>
								<Index>#x232C</Index>
								<Name>[P3.44]Pulse input prohibition invalid enabling</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>										
							<Object>
								<Index>#x232D</Index>
								<Name>[P3.45]Pulse diff clear mode</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>											
							<Object>
								<Index>#x2332</Index>
								<Name>[P3.50]Threshold of position reaching</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>											
							<Object>
								<Index>#x2333</Index>
								<Name>[P3.51]Output mode of position reaching</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>										
							<Object>
								<Index>#x2334</Index>
								<Name>[P3.52]Hold time of position reaching</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>											
							<Object>
								<Index>#x2335</Index>
								<Name>[P3.53]Threshold of speed consistent</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>													
							<Object>
								<Index>#x2336</Index>
								<Name>[P3.54]Threshold of speed attained</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>														
							<Object>
								<Index>#x2337</Index>
								<Name>[P3.55]Threshold of zero speed</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x2338</Index>
								<Name>[P3.56]Locked time of servo after braking</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																	
							<Object>
								<Index>#x2339</Index>
								<Name>[P3.57]Delay of braking</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																	
							<Object>
								<Index>#x233A</Index>
								<Name>[P3.58]Threshold speed of off-braking</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																		
							<Object>
								<Index>#x233B</Index>
								<Name>[P3.59]Threshold of position reaching(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																		
							<Object>
								<Index>#x2346</Index>
								<Name>[P3.70]Analog input 3 selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																			
							<Object>
								<Index>#x2347</Index>
								<Name>[P3.71]Offset of Analog input 3(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																									
							<Object>
								<Index>#x2348</Index>
								<Name>[P3.72]Dead zone of Analog input 3(0.001)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																											
							<Object>
								<Index>#x2349</Index>
								<Name>[P3.73]Gain of Analog input 3</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																										
							<Object>
								<Index>#x234A</Index>
								<Name>[P3.74]Polarity of Analog input 3</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																											
							<Object>
								<Index>#x234B</Index>
								<Name>[P3.75]Protect voltage of Analog input 3(0.001)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																										
							<Object>
								<Index>#x234C</Index>
								<Name>[P3.76]Filter time of Analog input 3(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x234D</Index>
								<Name>[P3.77]Analog input 3 selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																								
							<Object>
								<Index>#x235A</Index>
								<Name>[P3.90]Analog input 3 selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x235B</Index>
								<Name>[P3.91]1st encoder filter</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x235C</Index>
								<Name>[P3.92]2nd encoder filter</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>								
							<Object>
								<Index>#x2400</Index>
								<Name>[P4.00]EtherCAT communication address</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2401</Index>
								<Name>[P4.01]485 Local communication address</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2402</Index>
								<Name>[P4.02]Can baudrate selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2403</Index>
								<Name>[P4.03]Communication baudrate selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2404</Index>
								<Name>[P4.04]Communication parity mode</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2405</Index>
								<Name>[P4.05]Can Local communication address</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2406</Index>
								<Name>[P4.06]485 Local communication address</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																																
							<Object>
								<Index>#x2407</Index>
								<Name>[P4.07]EtherCAT synchronisation period</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2408</Index>
								<Name>[P4.08]EtherCAT synchronisation type</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x2409</Index>
								<Name>[P4.09]EtherCAT fault detect time</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																															
							<Object>
								<Index>#x240A</Index>
								<Name>[P4.10]Master Type</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x240B</Index>
								<Name>[P4.11]Commnucation servo enabling</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																											
							<Object>
								<Index>#x240C</Index>
								<Name>[P4.12]Bus Position command</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																									
							<Object>
								<Index>#x240D</Index>
								<Name>[P4.13]Bus Speed command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x240E</Index>
								<Name>[P4.14]Bus Torque command(0.1)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																											
							<Object>
								<Index>#x240F</Index>
								<Name>[P4.15]Control mode switch enabling</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2410</Index>
								<Name>[P4.16]Gain switch enabling</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2411</Index>
								<Name>[P4.17]Numerator of electronic gear selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2412</Index>
								<Name>[P4.18]Rotational inertia ratio switch command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2413</Index>
								<Name>[P4.19]Zero speed clamping enabling</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2414</Index>
								<Name>[P4.20]Positon feedback clearing</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2415</Index>
								<Name>[P4.21]Torge limit switch command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2416</Index>
								<Name>[P4.22]Extern error command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2417</Index>
								<Name>[P4.23]Emergency stop command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2418</Index>
								<Name>[P4.24]Quake decrease input command</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x2419</Index>
								<Name>[P4.25]EtherCAT control unit type</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x241A</Index>
								<Name>[P4.26]EtherCAT PDO input offset</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																														
							<Object>
								<Index>#x241B</Index>
								<Name>[P4.27]EtherCAT position interpretation compensate number</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x241C</Index>
								<Name>[P4.28]EtherCAT Digital output enable</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object><Object>
								<Index>#x241D</Index>
								<Name>[P4.29]EtherCAT sdo cycle select</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																													
							<Object>
								<Index>#x241E</Index>
								<Name>[P4.30]Stopping mode selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																								
							<Object>
								<Index>#x241F</Index>
								<Name>[P4.31]Maximum speed limit</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																											
							<Object>
								<Index>#x2420</Index>
								<Name>[P4.32]Threshold of over speed</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x2421</Index>
								<Name>[P4.33]Threshold of position error over high</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x2422</Index>
								<Name>[P4.34]Brake overload detection enabling selection</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x2423</Index>
								<Name>[P4.35]lost control detect enable</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																													
							<Object>
								<Index>#x2424</Index>
								<Name>[P4.36]Protect selection of lack voltage</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>										
																	
							<Object>
								<Index>#x2425</Index>
								<Name>[P4.37]Detection time of lack voltage</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							
							<Object>
								<Index>#x2426</Index>
								<Name>[P4.38]Motor overload ratio setting</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																												
							<Object>
								<Index>#x2427</Index>
								<Name>[P4.39]Threshold of speed error over high</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																						
							<Object>
								<Index>#x2428</Index>
								<Name>[P4.40]Positive speed limit</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																							
							<Object>
								<Index>#x2429</Index>
								<Name>[P4.41]Negative speed limit</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																									
							<Object>
								<Index>#x242A</Index>
								<Name>[P4.42]Internal high resolution speed(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>			
							<Object>
								<Index>#x242B</Index>
								<Name>[P4.43]Torque limit shield and choosing of running cycle</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x242C</Index>
								<Name>[P4.44]Threshold of Speed Control</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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							<Object>
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								<Name>[P5.59]Delay time 06</Name>
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								<Name>[P5.60]Delay time 07</Name>
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								<Name>[P5.62]Delay time 09</Name>
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								<Name>[P5.63]Delay time 10</Name>
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								<Name>[P5.64]Delay time 11</Name>
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								<Name>[P5.65]Delay time 12</Name>
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								<Name>[P5.66]Delay time 13</Name>
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								<Name>[P5.67]Delay time 14</Name>
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								<Name>[P5.68]Delay time 15</Name>
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								</Flags>
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							<Object>
								<Index>#x2545</Index>
								<Name>[P5.69]PtP Buffer enable</Name>
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							<Object>
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								<Name>[P5.70]Revolving table resolution</Name>
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								</Flags>
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							<Object>
								<Index>#x2547</Index>
								<Name>[P5.71]Revolving table switch</Name>
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									<DefaultData>0000</DefaultData>
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								</Flags>
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							<Object>
								<Index>#x2548</Index>
								<Name>[P5.72]Super multi circle mode</Name>
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								</Flags>
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							<Object>
								<Index>#x2549</Index>
								<Name>[P5.73]DI trigger mode of PtP </Name>
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									<DefaultData>0000</DefaultData>
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								</Flags>
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								<Index>#x254A</Index>
								<Name>[P5.74]DO output mode of PtP</Name>
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								</Flags>
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								<Index>#x254B</Index>
								<Name>[P5.75]PtP interrupt Pause Enable</Name>
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								<Info>
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								</Flags>
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							<Object>
								<Index>#x2600</Index>
								<Name>[P6.00]The forward JOG speed(Low)</Name>
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								</Flags>
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							<Object>
								<Index>#x2601</Index>
								<Name>[P6.01]The reverse JOG speed(Low)</Name>
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								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								</Flags>
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							<Object>
								<Index>#x2602</Index>
								<Name>[P6.02]Position latch enable</Name>
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								</Flags>
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							<Object>
								<Index>#x2603</Index>
								<Name>[P6.03]The mode of position latch</Name>
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								<Info>
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								</Info>
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								</Flags>
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							<Object>
								<Index>#x2604</Index>
								<Name>[P6.04]The forward JOG speed(High)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
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									<Access>rw</Access>
									
								</Flags>
							</Object>													
							<Object>
								<Index>#x2605</Index>
								<Name>[P6.05]The reverse JOG speed(High)</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>													
							<Object>
								<Index>#x2606</Index>
								<Name>[P6.06]DI JOG enable</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x2614</Index>
								<Name>[P6.20]Turret enable</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x2615</Index>
								<Name>[P6.21]Turret number</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x2616</Index>
								<Name>[P6.22]Pulse counts per revolution for turret</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x2617</Index>
								<Name>[P6.23]Offset of turret</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>																
							<Object>
								<Index>#x3000</Index>
								<Name>[R0.00]Speed feedback of motor(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																				
							<Object>
								<Index>#x3001</Index>
								<Name>[R0.01]Speed command of motor(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																	
							<Object>
								<Index>#x3002</Index>
								<Name>[R0.02]Position feedback accumulation</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																									
							<Object>
								<Index>#x3003</Index>
								<Name>[R0.03]Position command accumulation</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																		
							<Object>
								<Index>#x3004</Index>
								<Name>[R0.04]Position error</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																				
							<Object>
								<Index>#x3005</Index>
								<Name>[R0.05]Mixed control error</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>																				
							<Object>
								<Index>#x3006</Index>
								<Name>[R0.06]Torque feedback(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>																				
							<Object>
								<Index>#x3007</Index>
								<Name>[R0.07]DC bus voltage(0.1)</Name>
								<Type>DINT</Type>
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								<Name>[R0.12]Torque limit(0.1)</Name>
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								<Name>[R0.13]Encoder feedback</Name>
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								<Index>#x300E</Index>
								<Name>[R0.14]Position relative to Z pulse</Name>
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								<Name>[R0.15]Rotational inertia ratio of load to motor</Name>
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								<Name>[R0.16]Output power(0.1)</Name>
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								<Name>[R0.17]Overload ratio(0.1)</Name>
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								<Name>[R0.18]Actual numerator of electronic gear</Name>
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								<Name>[R0.19]Actual denorminator of electronic gear</Name>
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								<Name>[R0.20]Pos command speed(0.1)</Name>
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								<Name>[R0.22]Status of ptp</Name>
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							<Object>
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								<Name>[R0.23]Encoder absoulution postion feedback</Name>
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							<Object>
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								<Name>[R0.24]EEPROM encoder data state</Name>
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							<Object>
								<Index>#x3019</Index>
								<Name>[R0.25]Encoder turns</Name>
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							<Object>
								<Index>#x301A</Index>
								<Name>[R0.26]Support type encoder</Name>
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							<Object>
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								<Name>[R0.27]EtherCAT clock synchronization correction state</Name>
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							<Object>
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								<Name>[R0.28]CANopen FSM state</Name>
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							<Object>
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								<Name>[R0.29]profibus-dp nodeid</Name>
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								<Name>[R0.30]System state</Name>
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								<Name>[R0.31]IGBT state</Name>
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								<Name>[R0.32]Current run mode</Name>
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								<Name>[R0.38]Driver serial number 1</Name>
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								<Name>[R0.40]Driver serial number 3</Name>
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								<Name>[R0.41]Driver serial number 4</Name>
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								<Name>[R0.42]Driver serial number 5</Name>
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								<Name>[R0.43]Driver serial number 6</Name>
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								<Name>[R0.44]Absolute position of grating rule (2rd encoder) position feedback</Name>
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								<Name>[R0.47]Speed observer feedback speed(0.1)</Name>
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								<Name>[R0.48]The disturbance observer disturbance torque(0.1)</Name>
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								<Name>[R0.49]The Full-loop vibration suppressor compensation value(0.1)</Name>
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								<Name>[R0.50]Version of EtherCAT config file(0.01)</Name>
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								<Name>[R0.51]Rotational inertia ratio of load to motor</Name>
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								<Name>[R0.52]Grating rule position feedback accumulation</Name>
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								<Name>[R0.53]R053</Name>
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								<Name>[R0.54]Grating rule (2rd encoder) position feedback</Name>
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								<Name>[R0.55]</Name>
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								<Name>[R0.56]</Name>
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								<Name>[R0.57]2rd encoder position feedback accumulation</Name>
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								<Name>[R0.58]Position of disk</Name>
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								<Name>[R0.60]Motor temperature</Name>
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								<Name>[R0.99]Error code</Name>
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								<Name>[R1.00]Digital input state</Name>
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								<Name>[R1.02]AD value of analog input 1(0.001)</Name>
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								<Index>#x3103</Index>
								<Name>[R1.03]AD value of analog input 2(0.001)</Name>
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								<Index>#x3104</Index>
								<Name>[R1.04]AD value of analog input 3(0.001)</Name>
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								<Index>#x3105</Index>
								<Name>[R1.05]Voltage of analog input 1(0.001)</Name>
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								<Index>#x3106</Index>
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									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
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							<Object>
								<Index>#x3107</Index>
								<Name>[R1.07]Voltage of analog input 3(0.001)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
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							<Object>
								<Index>#x3108</Index>
								<Name>[R1.08]Voltage of analog output 1(0.001)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
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							<Object>
								<Index>#x3109</Index>
								<Name>[R1.09]Voltage of analog output 2(0.001)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x310A</Index>
								<Name>[R1.10]Voltage of analog output 3(0.001)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x310B</Index>
								<Name>[R1.11]Pulse input accumulation</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x310C</Index>
								<Name>[R1.12]Pulse input position command</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
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							<Object>
								<Index>#x310D</Index>
								<Name>[R1.13]Pulse input position command(0.1)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x310E</Index>
								<Name>[R1.14]Analog speed compensation(0.1)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x310F</Index>
								<Name>[R1.15]Analog torge compensation(0.1)</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
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							<Object>
								<Index>#x3110</Index>
								<Name>[R1.16]Position of DI cap</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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							<Object>
								<Index>#x3111</Index>
								<Name>[R1.17]Total Position of DI cap</Name>
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								<Info>
									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
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							<Object>
								<Index>#x3112</Index>
								<Name>[R1.18]Position of DI cap ENC2</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								<Flags>
									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x3113</Index>
								<Name>[R1.19]Total Position of DI cap ENC2</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x3114</Index>
								<Name>[R1.17]Digital output state1</Name>
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								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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									<Access>ro</Access>
								</Flags>
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							<Object>
								<Index>#x4000</Index>
								<Name>Error code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
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							<Object>
								<Index>#x4001</Index>
								<Name>Servo Temperature</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								</Flags>
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							<Object>
								<Index>#x4002</Index>
								<Name>Parameter save</Name>
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									<DefaultData>0000</DefaultData>
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								</Flags>
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							<Object>
								<Index>#x4003</Index>
								<Name>Parameter restore</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
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								</Flags>
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							<Object>
								<Index>#x4004</Index>
								<Name>software reset</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
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									<Access>rw</Access>
									
								</Flags>
							</Object>		
							<Object>
								<Index>#x400d</Index>
								<Name>Encoder Feedback</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x4019</Index>
								<Name>multi number of turns</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x4020</Index>
								<Name>Encoder Feedback Cap</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
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									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x4021</Index>
								<Name>multi number of turns Cap</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>									
								</Flags>
							</Object>	
							<Object>
								<Index>#x4022</Index>
								<Name>multi number of turns Cap 2</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>									
								</Flags>
							</Object>		
							<Object>
								<Index>#x4100</Index>
								<Name>Analog output1</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>							
							<Object>
								<Index>#x4101</Index>
								<Name>Analog output2</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
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							</Object>
							<Object>
								<Index>#x4300</Index>
								<Name>driver paramets</Name>
								<Type>DT4300</Type>
								<BitSize>112</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>03</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>index</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>value</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>status</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>							
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>				
							<Object>
								<Index>#x6040</Index>
								<Name>Control word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error Code(CIA402)</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6042</Index>
								<Name>vl target velocity</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6043</Index>
								<Name>vl velocity demand</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6044</Index>
								<Name>vl control effort</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6046</Index>
								<Name>vl velocity min max amount</Name>
								<Type>DT6046</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity min amount</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity max amount</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6047</Index>
								<Name>vl velocity min max</Name>
								<Type>DT6047</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity min pos</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity max pos</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity min neg</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>vl velocity max neg</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Operation Mode</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Operation Mode Display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6063</Index>
								<Name>Position actual value*</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6065</Index>
								<Name>Following error window</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6066</Index>
								<Name>Following error time out</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Actual Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6071</Index>
								<Name>Target torque</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6072</Index>
								<Name>Max torque</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max current</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6075</Index>
								<Name>Motor rate current</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6076</Index>
								<Name>Motor rate torque</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6077</Index>
								<Name>Torque actual value</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6079</Index>
								<Name>DC link circuit voltage</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x607B</Index>
								<Name>Position range limit</Name>
								<Type>DT607B</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Min position range limit</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Max position range limit</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>									
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Home offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x607D</Index>
								<Name>soft Position range limit</Name>
								<Type>DT607D</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Min soft position range limit</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Max soft position range limit</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>									
								</Flags>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>	
							<Object>
								<Index>#x607F</Index>
								<Name>Max profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>									
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6093</Index>
								<Name>Position factor</Name>
								<Type>DT6093</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Numerator</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Feed constant</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed during search for switch</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed during search for zero</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60B0</Index>
								<Name>Position offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B1</Index>
								<Name>Velocity offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>	
							<Object>
								<Index>#x60B2</Index>
								<Name>Torque offset</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>									
								</Flags>
							</Object>						
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch probe control</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch probe status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>							
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe 1 Positive value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe 1 Negative value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>									
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe 2 Positive value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe 2 Negative value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>									
								</Flags>
							</Object>
							<Object>
								<Index>#x60E0</Index>
								<Name>Positive torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
							<Index>#x60E1</Index>
								<Name>Negtive torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>

							<Object>
								<Index>#x60F4</Index>
								<Name>Following error actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Physical outputs</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Bit mask</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported drive modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#xf000</Index>
								<Name>Modular device profile</Name>
								<Type>DTF000</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Module index distance</Name>
										<Info>
											<DefaultData>1000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum number of modules</Name>
										<Info>
											<DefaultData>0300</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
							<Object>
								<Index>#xf010</Index>
								<Name>Module list</Name>
								<Type>DTF010</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>03</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>6400</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>c800</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>2c01</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="40" MaxSize="512" DefaultSize="512" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="40" MaxSize="512" DefaultSize="512" StartAddress="#x1200" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="1" MaxSize="128" DefaultSize="23" StartAddress="#x1400" ControlByte="#x24" Enable="1">Outputs</Sm>
				<Sm MinSize="1" MaxSize="128" DefaultSize="24" StartAddress="#x1480" ControlByte="#x00" Enable="1">Inputs</Sm>

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