<?xml version="1.0"?>
<!-- edited with XMLSpy v2013 (http://www.altova.com) by  () -->
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.0">
	<Vendor>
		<Id>#x000116c7</Id>
		<Name>HCFA Co.,Ltd</Name>
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		</ImageData16x14>
	</Vendor>
	<Descriptions>
		<Groups>
			<Group SortOrder="0">
				<Type>AC Servo Driver</Type>
				<Name LcId="1033">HCFA-X3E-DRIVER</Name>
				<ImageData16x14>424dd6020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
				</ImageData16x14>
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type ProductCode="#x003E0402" RevisionNo="#x00000001">HCFA X3E Servo Driver</Type>
				<Name LcId="1033">HCFA X3E Servo Driver</Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>4000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>AC Servo Driver</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
					</ChannelInfo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>ARRAY [0..3] OF BYTE</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(20)</Name>
								<BitSize>160</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(3)</Name>
								<BitSize>24</BitSize>
							</DataType>
							<DataType>
								<!--Software version string (0x100A)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Stroe Parameters-->
								<Name>DT1010</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Store Parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<Name>DT1C32</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<Name>DT1C33</Name>
								<BitSize>488</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Synchronization Type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Cycle Time Too Small</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Sync Error</Name>
									<Type>BOOL</Type>
									<BitSize>1</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>c</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT0800EN03</Name>
								<BaseType>USINT</BaseType>
								<BitSize>3</BitSize>
								<EnumInfo>
									<Text>Signed presentation</Text>
									<Enum>0</Enum>
								</EnumInfo>
								<EnumInfo>
									<Text>Unsigned presentation</Text>
									<Enum>1</Enum>
								</EnumInfo>
							</DataType>
							<DataType>
								<Name>DT160x</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mapping Entry 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>656</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mapping Entry 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Mapping Entry 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mapping Entry 3</Name>
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										<Access>ro</Access>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Motor positive direction definition</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Control mode selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Real time auto-tuning</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Stiffness grade setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Load inertia ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Position instruction source</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Pulse train form</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Instruction units per motor one revolution (32-bit)</Name>
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									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Electronic gear numerator 1(32-bit)</Name>
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									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Electronic gear denominator (32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Pulse outputcounts per motor one revolution (32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Pulse output positive direction definition</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Pulse output OUT_Z polarity</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Pulse output function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Position deviation too large threshold(32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Regenerative resistor setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>External regenerative resistor capacity</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>External regenerative resistor resistance value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>External regenerative resistor heating time constant</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Regenerative voltage threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Step value setting</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2101</Name>
								<BitSize>576</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Position loop gain 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed loop gain 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed loop integral time 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed detection filter 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Torque instruction filter 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Position loop gain 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Speed loop gain 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Speed loop integral time 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Speed detection filter 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Torque instruction filter 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Speed regulator PDFF coefficient</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Speed feedforward control selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Speed feedforward gain</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Speed feedforward filtering time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Torque feedforward control selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Torque feedforward gain</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Torque feedforward filtering time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Digital input GAIN_SEL function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Position control gain switchover mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Position control gain switchover delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Position control gain switchover class</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Position control gain switchover hysteresis</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Position control gain switchover time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Speed control gain switchover mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Speed control gain switchover delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Speed control gain switchover class</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Speed control gain switchover hysteresis</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Torque control gain switchover mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Torque control gain switchover delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Torque control gain switchover class</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Torque control gain switchover hysteresis</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>496</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Observer enable</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>Observer cut-off frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>Observer phase compensate time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Observer Inertia coefficient</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2102</Name>
								<BitSize>608</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Position instruction smoothing filter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position instruction FIR filter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Adaptive filtering mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Adaptive filter load mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>First notch filter frequency (manual)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>First notch filter width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>First notch filter depth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Second notch filter frequency (manual)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Second notch filter width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Second notch filter depth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Third notch filter frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Third notch filter width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Third notch filter depth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Fourth notch filter frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Fourth notch filter width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Fourth notch filter depth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Position instruction FIR filter 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>First vibration attenuation frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>First vibration attenuation filter setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Second vibration attenuation frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Second vibration attenuation filter setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Resonance point 1 frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>Resonance point 1 bandwidth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>Resonance point 1 amplitude</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Resonance point 2 frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>36</SubIdx>
									<Name>Resonance point 2 bandwidth</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>576</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>Resonance point 2 amplitude</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2103</Name>
								<BitSize>848</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Speed instruction source selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed instructiondigital setting</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>JOG speed setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Torque limit source</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Internal forward torque limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Internal reverse torque limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>External forward torque limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>External reverse torque limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Acceleration time 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Deceleration time 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Acceleration time 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Deceleration time 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Zero-speed clamp function</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Zero-speed clamp threshold value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Torque instruction source</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Torque instructiondigital setting value</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Speed limit source in torque control</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Internal positive speed limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Internal negative speed limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Internal speed instruction segment numberselection mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>Acceleration time selection for internal speed segment 1-8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>Deceleration time selection for internal speed segment 1-8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Acceleration time selection for internal speed segment 9-16</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>36</SubIdx>
									<Name>Deceleration time selection for internal speed segment 9-16</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>576</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>Segment 1 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>38</SubIdx>
									<Name>Segment 2 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>608</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>39</SubIdx>
									<Name>Segment 3 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>624</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>40</SubIdx>
									<Name>Segment 4 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>640</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>41</SubIdx>
									<Name>Segment 5 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>656</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>42</SubIdx>
									<Name>Segment 6 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>672</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>43</SubIdx>
									<Name>Segment 7 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>688</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>44</SubIdx>
									<Name>Segment 8 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>704</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>45</SubIdx>
									<Name>Segment 9 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>46</SubIdx>
									<Name>Segment 10 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>736</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>47</SubIdx>
									<Name>Segment 11 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>752</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>48</SubIdx>
									<Name>Segment 12 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>768</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>49</SubIdx>
									<Name>Segment 13 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>50</SubIdx>
									<Name>Segment 14 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>800</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>51</SubIdx>
									<Name>Segment 15 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>52</SubIdx>
									<Name>Segment 16 speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>832</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2104</Name>
								<BitSize>960</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Normal DI filter selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>DI1 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DI2 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DI3 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>DI4 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DI5 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>DI6 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>DI7 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>DI8 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>DI9 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>DI1 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>DI2 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>DI3 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>DI4 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>DI5 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>DI6 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>DI7 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>DI8 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>DI9 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>DO1 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>DO2 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>DO3 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>DO4 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>DO5 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>DO6 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>DO7 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>DO8 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>DO9 terminal function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>DO1 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>DO2 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>DO3 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>DO4 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>36</SubIdx>
									<Name>DO5 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>576</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>DO6 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>38</SubIdx>
									<Name>DO7 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>608</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>39</SubIdx>
									<Name>DO8 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>624</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>40</SubIdx>
									<Name>DO9 terminal logic selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>640</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>42</SubIdx>
									<Name>FUNINL signal unassigned state(Hex)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>672</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>43</SubIdx>
									<Name>FUNINH signal unassigned state(Hex)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>688</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>44</SubIdx>
									<Name>Motor rotational signal (TGON) threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>704</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>45</SubIdx>
									<Name>Speed conformity signal (V_CMP)width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>46</SubIdx>
									<Name>Speed reached signal (V_ARR)width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>736</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>48</SubIdx>
									<Name>Positioning completion (COIN) threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>768</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>49</SubIdx>
									<Name>Positioning completion output setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>50</SubIdx>
									<Name>Positioning completion holding time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>800</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>51</SubIdx>
									<Name>Positioning near (NEAR) threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>52</SubIdx>
									<Name>Servo OFF delay time after holding brake taking action when speed is 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>832</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>53</SubIdx>
									<Name>Speed setting for holding brake to take action in motion</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>848</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>54</SubIdx>
									<Name>Waiting time for holding brake to take action in motion</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>864</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>55</SubIdx>
									<Name>Special output function setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>56</SubIdx>
									<Name>Torque reached (T_ARR) threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>896</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>57</SubIdx>
									<Name>Torque reached signal width</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>58</SubIdx>
									<Name>Z Pulse Width Adjust</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>928</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>59</SubIdx>
									<Name>Zero speed out limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>944</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2105</Name>
								<BitSize>576</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>AI1 minimum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Corresponding value of AI1 minimum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>AI1 maximum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Corresponding value of AI1 maximum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>AI1 zero offset</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>AI1 dead-zone setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>AI1 input filtering time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>AI2 minimum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Corresponding value of AI2 minimum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>AI2 maximum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Corresponding value of AI2 maximum input</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>AI2 zero offset</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>AI2 dead-zone setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>AI2 input filtering time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>AI setting 100% speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>AI setting 100% torque</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>AI1 function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>AI2 function selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>AO1 signal selection (need optional card)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>AO1 voltage offset</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>AO1 multiplier</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>496</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>AO2 signal selection (need optional card)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>AO2 voltage offset</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>AO2 multiplier</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>AO monitor type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2106</Name>
								<BitSize>800</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Electronic gear numerator 2(32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Electronic gear numerator 3(32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Electronic gear numerator 4(32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Position deviation clearance function</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Electronic gear ratio switchover delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Potential energy load torque compensation</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>P06.10 memory selections</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Parameter identification rate</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Parameter identification acceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Parameter identification deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Parameter identification mode selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Initial angle identification current limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Instantaneous power failure protection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Instantaneous power failure deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Servo OFF stop mode selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>Second category fault stop mode selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Over-travel input setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Over-travel stop mode selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Input power phase loss protection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>496</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Output power phase loss protection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>Emergency stop torque</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>Tripping protection function</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Overload warning value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>36</SubIdx>
									<Name>Motor overload protection coefficient</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>576</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>Undervoltage protection point</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>38</SubIdx>
									<Name>Over-speed error point</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>608</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>39</SubIdx>
									<Name>Maximum input pulse frequency</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>624</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>40</SubIdx>
									<Name>Short circuit to ground detection protection selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>640</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>41</SubIdx>
									<Name>Encoder interference detection delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>656</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>42</SubIdx>
									<Name>Input pulse filtering setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>672</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>43</SubIdx>
									<Name>Input pulseinhibition setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>688</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>44</SubIdx>
									<Name>Deviation clearance input setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>704</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>45</SubIdx>
									<Name>High speed DI filtering setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>46</SubIdx>
									<Name>Speed deviation too large threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>736</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>47</SubIdx>
									<Name>Torque saturation overtime setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>752</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>48</SubIdx>
									<Name>Absolute system setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>768</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>49</SubIdx>
									<Name>Encoder battery undervoltage threshold</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2107</Name>
								<BitSize>480</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Panel display option</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Panel monitor parameter setting1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Panel monitor parameter setting2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Panel monitor parameter setting3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Panel monitor parameter setting4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Panel monitor parameter setting5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Function option1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Function option2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>User password</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Power off storage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>User password effect time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Reserved parameter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Quick stop time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Reserved Parameter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Function option3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Maximum copies of one revolation</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Function option5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Function option6</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Function option7</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>23</SubIdx>
									<Name>Function option8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>368</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Fault reset condition</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Positive software limit（32-bit）</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Negative software limit（32-bit）</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Home signal hold time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2108</Name>
								<BitSize>1616</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Internal position execution pattern selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Starting stage number</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Ending stage number</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Restartingpattern of residual stags after pausing</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Position instruction type selection</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Unit for waiting time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal position control 1st stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Internal position control 1st stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Internal position control 1st stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Waiting time after internal position control 1st stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Internal position control 2nd stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Internal position control 2nd stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Internal position control 2nd stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Waiting time after internal position control 2nd stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Internal position control 3rd stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>Internal position control 3rd stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Internal position control 3rd stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>Waiting time after internal position control 3rd stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Internal position control 4th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Internal position control 4th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>25</SubIdx>
									<Name>Internal position control 4thstageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>400</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Waiting time after internal position control 4thstage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>Internal position control 5thstage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>432</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>Internal position control 5thstage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>Internal position control 5thstageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>Waiting time after internal position control 5thstage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>496</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Internal position control 6thstage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>34</SubIdx>
									<Name>Internal position control 6thstage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>544</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Internal position control 6thstageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>36</SubIdx>
									<Name>Waiting time after internal position control 6thstage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>576</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>Internal position control 7thstage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>39</SubIdx>
									<Name>Internal position control 7thstage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>624</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>40</SubIdx>
									<Name>Internal position control 7thstageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>640</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>41</SubIdx>
									<Name>Waiting time after internal position control 7thstage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>656</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>42</SubIdx>
									<Name>Internal position control 8thstage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>672</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>44</SubIdx>
									<Name>Internal position control 8thstage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>704</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>45</SubIdx>
									<Name>Internal position control 8thstageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>46</SubIdx>
									<Name>Waiting time after internal position control 8thstage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>736</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>47</SubIdx>
									<Name>Internal position control 9thstage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>752</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>49</SubIdx>
									<Name>Internal position control 9th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>50</SubIdx>
									<Name>Internal position control 9th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>800</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>51</SubIdx>
									<Name>Waiting time after internal position control 9th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>52</SubIdx>
									<Name>Internal position control 10th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>832</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>54</SubIdx>
									<Name>Internal position control 10th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>864</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>55</SubIdx>
									<Name>Internal position control 10th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>56</SubIdx>
									<Name>Waiting time after internal position control 10th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>896</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>57</SubIdx>
									<Name>Internal position control 11th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>59</SubIdx>
									<Name>Internal position control 11th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>944</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>60</SubIdx>
									<Name>Internal position control 11th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>960</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>61</SubIdx>
									<Name>Waiting time after internal position control 11th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>976</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>62</SubIdx>
									<Name>Internal position control 12th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>992</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>64</SubIdx>
									<Name>Internal position control 12th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1024</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>65</SubIdx>
									<Name>Internal position control 12th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1040</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>66</SubIdx>
									<Name>Waiting time after internal position control 12th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1056</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>67</SubIdx>
									<Name>Internal position control 13th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1072</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>69</SubIdx>
									<Name>Internal position control 13th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1104</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>70</SubIdx>
									<Name>Internal position control 13th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1120</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>71</SubIdx>
									<Name>Waiting time after internal position control 13th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1136</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>72</SubIdx>
									<Name>Internal position control 14th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1152</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>74</SubIdx>
									<Name>Internal position control 14th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1184</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>75</SubIdx>
									<Name>Internal position control 14th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1200</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>76</SubIdx>
									<Name>Waiting time after internal position control 14th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1216</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>77</SubIdx>
									<Name>Internal position control 15th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1232</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>79</SubIdx>
									<Name>Internal position control 15th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1264</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>80</SubIdx>
									<Name>Internal position control 15th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1280</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>81</SubIdx>
									<Name>Waiting time after internal position control 15th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1296</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>82</SubIdx>
									<Name>Internal position control 16th stage length (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1312</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>84</SubIdx>
									<Name>Internal position control 16th stage max speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1344</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>85</SubIdx>
									<Name>Internal position control 16th stageacceleration/deceleration time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1360</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>86</SubIdx>
									<Name>Waiting time after internal position control 16th stage completed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1376</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>87</SubIdx>
									<Name>Interrupt positioning setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1392</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>89</SubIdx>
									<Name>Homing start modes</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1424</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>90</SubIdx>
									<Name>Homing modes</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1440</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>91</SubIdx>
									<Name>Limit switch and Z-phase signal setting at homing</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1456</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>93</SubIdx>
									<Name>Origin search high speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1488</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>94</SubIdx>
									<Name>Origin search low speed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1504</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>95</SubIdx>
									<Name>Acceleration/deceleration time at origin search</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1520</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>96</SubIdx>
									<Name>Homing time limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>1536</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>97</SubIdx>
									<Name>Origin point coordinate offset (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1552</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>99</SubIdx>
									<Name>Mechanical origin point offset(32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>1584</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2109</Name>
								<BitSize>320</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Modbus axis address</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Modbus baud rate</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Modbus data format</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Communication overtime</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Communication response delay</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Communication DI enabling setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Communication DI enabling setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Communication DI enabling setting 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Communication DI enabling setting 4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Communication DO enabling setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Communication DO enabling setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Communication instruction holding time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>AO Function or canopen select</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Can config parameter1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Can config parameter2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Can config parameter3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>EtherCat link error dectect times</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>EtherCAT protect param</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>EtherCAT alias addr</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2114</Name>
								<BitSize>224</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Keyboard JOG</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Fault reset</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>communication write parameter save enable</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Parameter identification</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Analog input automatic calibration</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>System initialization</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>reserved</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Communication status output</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Communication selects multiple segments No.</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Communication origin search</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2115</Name>
								<BitSize>976</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Servo status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor speed feedback</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed instruction</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Internal torque instruction (relative to rated torque)</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Phase current effective value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>DC bus voltage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Absolute position counter (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Electrical angle</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Mechanical angle (relative to encoder zero point)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Load inertia identification value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Speed value relative to input instruction</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Position deviation counter (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Input pulse counter (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Feedback pulse counter (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>Position instruction deviation counter unit (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>22</SubIdx>
									<Name>Digital input signal monitoring</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>24</SubIdx>
									<Name>Digital output signal monitoring</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>26</SubIdx>
									<Name>Total power-on time(32 bit)</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>AI1 voltage after adjustment</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>29</SubIdx>
									<Name>AI2 voltage after adjustment</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>464</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>30</SubIdx>
									<Name>AI1 voltage before adjustment</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>480</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>31</SubIdx>
									<Name>AI2 voltage before adjustment</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>496</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>32</SubIdx>
									<Name>Module temperature</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>512</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>33</SubIdx>
									<Name>Number of turns of absolute encoder (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>528</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>35</SubIdx>
									<Name>Single turn position of absolute encoder (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>560</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>37</SubIdx>
									<Name>Version code 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>592</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>38</SubIdx>
									<Name>Version code 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>608</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>39</SubIdx>
									<Name>Version code 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>624</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>40</SubIdx>
									<Name>Product series code</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>640</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>41</SubIdx>
									<Name>Fault record display</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>656</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>42</SubIdx>
									<Name>Fault code</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>672</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>43</SubIdx>
									<Name>Time stamp upon selected fault (32-bit)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>688</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>45</SubIdx>
									<Name>Motor speed upon selected fault</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>720</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>46</SubIdx>
									<Name>U-phase current upon selected fault</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>736</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>48</SubIdx>
									<Name>DC bus voltage upon selected fault</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>768</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>49</SubIdx>
									<Name>Input terminal status upon selected fault</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>784</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>50</SubIdx>
									<Name>Output terminal status upon selected fault</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>800</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>51</SubIdx>
									<Name>Customized software version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>816</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>52</SubIdx>
									<Name>Accumulative load ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>832</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>53</SubIdx>
									<Name>Regenerative load ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>848</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>54</SubIdx>
									<Name>Internal warning code</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>864</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>55</SubIdx>
									<Name>Internal instruction present stage code</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>880</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>56</SubIdx>
									<Name>Customized product serial code</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>896</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>57</SubIdx>
									<Name>High 32 place value of absolute position counter</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>912</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>59</SubIdx>
									<Name>High 32 place value of feedback pulse counter (32-bit)</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>944</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Min position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT608F</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Encoder increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</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>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Denominator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6092</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</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>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Denominator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6093</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Position factor Numerator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position factor Feed constant</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6094</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
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									<BitOffs>0</BitOffs>
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										<Access>ro</Access>
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								<SubItem>
									<SubIdx>1</SubIdx>
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								<SubItem>
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							<DataType>
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									<SubIdx>0</SubIdx>
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								<SubItem>
									<SubIdx>1</SubIdx>
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								<SubItem>
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							<DataType>
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									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
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								<SubItem>
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								<SubItem>
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								<SubItem>
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								<Name>Sync manager type</Name>
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											<DefaultData>04</DefaultData>
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											<DefaultData>02</DefaultData>
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											<DefaultData>03</DefaultData>
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									<SubItem>
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											<DefaultData>04</DefaultData>
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										<Info>
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										<Name>Product code</Name>
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											<DefaultData>01</DefaultData>
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										<Info>
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										<Info>
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										<Name>Local Error Reaction</Name>
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							<Object>
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								<Name>SM output parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>488</BitSize>
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										<Info>
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										<Name>Speed feedforward control selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed feedforward gain</Name>
										<Info>
											<DefaultValue>300</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed feedforward filtering time</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque feedforward control selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque feedforward gain</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque feedforward filtering time</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Digital input GAIN_SEL function selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position control gain switchover mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position control gain switchover delay</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position control gain switchover class</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position control gain switchover hysteresis</Name>
										<Info>
											<DefaultValue>33</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position control gain switchover time</Name>
										<Info>
											<DefaultValue>33</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed control gain switchover mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed control gain switchover delay</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed control gain switchover class</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed control gain switchover hysteresis</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque control gain switchover mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque control gain switchover delay</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque control gain switchover class</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque control gain switchover hysteresis</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Observer enable</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Observer cut-off frequency</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Observer phase compensate time</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Observer Inertia coefficient</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2102</Index>
								<Name>Vibration Suppression Parameters</Name>
								<Type>DT2102</Type>
								<BitSize>608</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>37</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position instruction smoothing filter</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position instruction FIR filter</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Adaptive filtering mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Adaptive filter load mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>First notch filter frequency (manual)</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>First notch filter width</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>First notch filter depth</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second notch filter frequency (manual)</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second notch filter width</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second notch filter depth</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Third notch filter frequency</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Third notch filter width</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Third notch filter depth</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fourth notch filter frequency</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fourth notch filter width</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fourth notch filter depth</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position instruction FIR filter 2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>First vibration attenuation frequency</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>First vibration attenuation filter setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second vibration attenuation frequency</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second vibration attenuation filter setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 1 frequency</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 1 bandwidth</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 1 amplitude</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 2 frequency</Name>
										<Info>
											<DefaultValue>5000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 2 bandwidth</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Resonance point 2 amplitude</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2103</Index>
								<Name>Speed and Torque Control Parameters</Name>
								<Type>DT2103</Type>
								<BitSize>848</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>52</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed instruction source selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed instructiondigital setting</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>JOG speed setting</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque limit source</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal forward torque limit</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal reverse torque limit</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>External forward torque limit </Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>External reverse torque limit</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Acceleration time 1</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Deceleration time 1</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Acceleration time 2</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Deceleration time 2</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Zero-speed clamp function</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Zero-speed clamp threshold value</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque instruction source</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque instructiondigital setting value</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed limit source in torque control</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal positive speed limit</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal negative speed limit</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal speed instruction segment numberselection mode</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Acceleration time selection for internal speed segment 1-8</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Deceleration time selection for internal speed segment 1-8</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Acceleration time selection for internal speed segment 9-16</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Deceleration time selection for internal speed segment 9-16</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 1 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 2 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 3 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 4 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 5 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 6 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 7 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 8 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 9 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 10 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 11 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 12 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 13 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 14 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 15 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Segment 16 speed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2104</Index>
								<Name>Digital Input/output Parameters</Name>
								<Type>DT2104</Type>
								<BitSize>960</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>59</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Normal DI filter selection</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI1 terminal function selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI2 terminal function selection</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI3 terminal function selection</Name>
										<Info>
											<DefaultValue>13</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI4 terminal function selection</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI5 terminal function selection</Name>
										<Info>
											<DefaultValue>25</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI6 terminal function selection</Name>
										<Info>
											<DefaultValue>14</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI7 terminal function selection</Name>
										<Info>
											<DefaultValue>15</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI8 terminal function selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI9 terminal function selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI1 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI2 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI3 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI4 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI5 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI6 terminal logic selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI7 terminal logic selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI8 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DI9 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO1 terminal function selection</Name>
										<Info>
											<DefaultValue>11</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO2 terminal function selection</Name>
										<Info>
											<DefaultValue>4</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO3 terminal function selection</Name>
										<Info>
											<DefaultValue>7</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO4 terminal function selection</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO5 terminal function selection</Name>
										<Info>
											<DefaultValue>9</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO6 terminal function selection</Name>
										<Info>
											<DefaultValue>6</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO7 terminal function selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO8 terminal function selection</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO9 terminal function selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO1 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO2 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO3 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO4 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO5 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO6 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO7 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO8 terminal logic selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DO9 terminal logic selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>FUNINL signal unassigned state(Hex)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>FUNINH signal unassigned state(Hex)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor rotational signal (TGON) threshold</Name>
										<Info>
											<DefaultValue>20</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed conformity signal (V_CMP)width</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed reached signal (V_ARR)width</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Positioning completion (COIN) threshold</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Positioning completion output setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Positioning completion holding time</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Positioning near (NEAR) threshold</Name>
										<Info>
											<DefaultValue>65535</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Servo OFF delay time after holding brake taking action when speed is 0</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed setting for holding brake to take action in motion</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time for holding brake to take action in motion</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Special output function setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque reached (T_ARR) threshold</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque reached signal width</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Z Pulse Width Adjust</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Zero speed out limit</Name>
										<Info>
											<DefaultValue>60</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2105</Index>
								<Name>Analog Input/output Parameters</Name>
								<Type>DT2105</Type>
								<BitSize>576</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>35</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 minimum input</Name>
										<Info>
											<DefaultValue>-1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Corresponding value of AI1 minimum input</Name>
										<Info>
											<DefaultValue>-1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 maximum input</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Corresponding value of AI1 maximum input</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 zero offset</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 dead-zone setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 input filtering time</Name>
										<Info>
											<DefaultValue>20</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 minimum input</Name>
										<Info>
											<DefaultValue>-1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Corresponding value of AI2 minimum input</Name>
										<Info>
											<DefaultValue>-1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 maximum input</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Corresponding value of AI2 maximum input</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 zero offset</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 dead-zone setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 input filtering time</Name>
										<Info>
											<DefaultValue>20</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI setting 100% speed</Name>
										<Info>
											<DefaultValue>3000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI setting 100% torque</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 function selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 function selection</Name>
										<Info>
											<DefaultValue>3</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO1 signal selection (need optional card)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO1 voltage offset</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO1 multiplier</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO2 signal selection (need optional card)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO2 voltage offset</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO2 multiplier</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO monitor type</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2106</Index>
								<Name>Expansion Parameters</Name>
								<Type>DT2106</Type>
								<BitSize>800</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>49</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Electronic gear numerator 2(32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Electronic gear numerator 3(32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Electronic gear numerator 4(32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position deviation clearance function</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Electronic gear ratio switchover delay</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Potential energy load torque compensation</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>P06.10 memory selections</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Parameter identification rate</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Parameter identification acceleration time</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Parameter identification deceleration time</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Parameter identification mode selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Initial angle identification current limit</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Instantaneous power failure protection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Instantaneous power failure deceleration time</Name>
										<Info>
											<DefaultValue>20</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Servo OFF stop mode selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Second category fault stop mode selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Over-travel input setting</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Over-travel stop mode selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Input power phase loss protection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Output power phase loss protection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Emergency stop torque</Name>
										<Info>
											<DefaultValue>1000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Tripping protection function</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Overload warning value</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor overload protection coefficient</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Undervoltage protection point</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Over-speed error point</Name>
										<Info>
											<DefaultValue>120</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum input pulse frequency</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Short circuit to ground detection protection selection</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Encoder interference detection delay</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Input pulse filtering setting</Name>
										<Info>
											<DefaultValue>40</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Input pulseinhibition setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Deviation clearance input setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>High speed DI filtering setting</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed deviation too large threshold</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Torque saturation overtime setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Absolute system setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Encoder battery undervoltage threshold</Name>
										<Info>
											<DefaultValue>30</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2107</Index>
								<Name>Auxiliary function Parameters</Name>
								<Type>DT2107</Type>
								<BitSize>480</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>29</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel display option</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel monitor parameter setting1</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel monitor parameter setting2</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel monitor parameter setting3</Name>
										<Info>
											<DefaultValue>6</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel monitor parameter setting4</Name>
										<Info>
											<DefaultValue>21</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Panel monitor parameter setting5</Name>
										<Info>
											<DefaultValue>23</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option1</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>User password</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Power off storage</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>User password effect time</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Reserved parameter</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Quick stop time</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Reserved Parameter</Name>
										<Info>
											<DefaultValue>8192</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option3</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum copies of one revolation</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option5</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option6</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option7</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Function option8</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fault reset condition</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Positive software limit（32-bit）</Name>
										<Info>
											<DefaultValue>2147483647</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Negative software limit（32-bit）</Name>
										<Info>
											<DefaultValue>-2147483648</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Home signal hold time</Name>
										<Info>
											<DefaultValue>2000</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2108</Index>
								<Name>Internal Position Control</Name>
								<Type>DT2108</Type>
								<BitSize>1616</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>100</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position execution pattern selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Starting stage number</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Ending stage number</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Restartingpattern of residual stags after pausing</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position instruction type selection</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Unit for waiting time</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 1st stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 1st stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 1st stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 1st stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 2nd stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 2nd stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 2nd stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 2nd stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 3rd stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 3rd stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 3rd stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 3rd stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 4th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 4th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 4thstageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 4thstage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 5thstage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 5thstage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 5thstageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 5thstage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 6thstage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 6thstage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 6thstageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 6thstage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 7thstage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 7thstage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 7thstageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 7thstage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 8thstage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 8thstage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 8thstageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 8thstage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 9thstage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 9th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 9th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 9th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 10th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 10th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 10th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 10th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 11th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 11th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 11th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 11th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 12th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 12th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 12th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 12th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 13th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 13th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 13th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 13th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 14th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 14th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 14th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 14th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 15th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 15th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 15th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 15th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 16th stage length (32-bit)</Name>
										<Info>
											<DefaultValue>10000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 16th stage max speed</Name>
										<Info>
											<DefaultValue>200</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal position control 16th stageacceleration/deceleration time</Name>
										<Info>
											<DefaultValue>10</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Waiting time after internal position control 16th stage completed</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Interrupt positioning setting</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Homing start modes</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Homing modes</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Limit switch and Z-phase signal setting at homing</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Origin search high speed</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Origin search low speed</Name>
										<Info>
											<DefaultValue>50</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Acceleration/deceleration time at origin search</Name>
										<Info>
											<DefaultValue>500</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Homing time limit</Name>
										<Info>
											<DefaultValue>30000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Origin point coordinate offset (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mechanical origin point offset(32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2109</Index>
								<Name>Communication Setting Parameters</Name>
								<Type>DT2109</Type>
								<BitSize>320</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>19</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Modbus axis address</Name>
										<Info>
											<DefaultValue>1</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Modbus baud rate</Name>
										<Info>
											<DefaultValue>2</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Modbus data format</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication overtime</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication response delay</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DI enabling setting 1</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DI enabling setting 2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DI enabling setting 3</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DI enabling setting 4</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DO enabling setting 1</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication DO enabling setting 2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication instruction holding time</Name>
										<Info>
											<DefaultValue>5</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AO Function or canopen select</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Can config parameter1</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Can config parameter2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Can config parameter3</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>EtherCat link error dectect times</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>EtherCAT protect param</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>EtherCAT alias addr</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2114</Index>
								<Name>keyboard and communication parameter</Name>
								<Type>DT2114</Type>
								<BitSize>224</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>13</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Keyboard JOG</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fault reset</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>communication write parameter save enable</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Parameter identification</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Analog input automatic calibration</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>System initialization</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>reserved</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication status output</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication selects multiple segments No.</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Communication origin search</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2115</Index>
								<Name>Group Monitoring Parameters</Name>
								<Type>DT2115</Type>
								<BitSize>976</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>60</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Servo status</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor speed feedback</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed instruction</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal torque instruction (relative to rated torque)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Phase current effective value</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DC bus voltage</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Absolute position counter (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Electrical angle</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Mechanical angle (relative to encoder zero point)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Load inertia identification value</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed value relative to input instruction</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position deviation counter (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Input pulse counter (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Feedback pulse counter (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Position instruction deviation counter unit (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Digital input signal monitoring</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Digital output signal monitoring</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Total power-on time(32 bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 voltage after adjustment</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 voltage after adjustment</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI1 voltage before adjustment</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>AI2 voltage before adjustment</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Module temperature</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Number of turns of absolute encoder (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Single turn position of absolute encoder (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Version code 1</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Version code 2</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Version code 3</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product series code</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fault record display</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Fault code</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Time stamp upon selected fault (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor speed upon selected fault</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>U-phase current upon selected fault</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>DC bus voltage upon selected fault</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Input terminal status upon selected fault</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Output terminal status upon selected fault</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Customized software version</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Accumulative load ratio</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Regenerative load ratio</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal warning code</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Internal instruction present stage code</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Customized product serial code</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>High 32 place value of absolute position counter</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>High 32 place value of feedback pulse counter (32-bit)</Name>
										<Info>
											<DefaultValue>0</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x213A</Index>
								<Name>Number of turns of absolute encoder (32-bit)</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x213B</Index>
								<Name>Single turn position of absolute encoder (32-bit)</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x213C</Index>
								<Name>absolute encoder position low 32-bit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x213D</Index>
								<Name>absolute encoder position high 32-bit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x213F</Index>
								<Name>Servo Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2141</Index>
								<Name>analog input1 value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2142</Index>
								<Name>analog input2 value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quick stop option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#x0007</MaxValue>
									<DefaultValue>#x0001</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x8000</MinValue>
									<MaxValue>#x7FFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of operation </Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<MinValue>#x00</MinValue>
									<MaxValue>#x0A</MaxValue>
									<DefaultValue>#x00</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of operation display </Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<MinValue>#x00</MinValue>
									<MaxValue>#x0A</MaxValue>
									<DefaultValue>#x00</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position demand value </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6063</Index>
								<Name>Position actual internal value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6065</Index>
								<Name>Following error window </Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00030D40</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6066</Index>
								<Name>Following error timeout</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6067</Index>
								<Name>Position window</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x000000C8</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6068</Index>
								<Name>Position window time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Velocity demand value </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Velocity actual value </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606D</Index>
								<Name>Velocity window </Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x000A</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606E</Index>
								<Name>Velocity window time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x000A</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606F</Index>
								<Name>Velocity threshold</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#xF060</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0064</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6071</Index>
								<Name>Target torque </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6072</Index>
								<Name>Max torque</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max current</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0BB8</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6074</Index>
								<Name>Torque demand value </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#xF060</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6075</Index>
								<Name>Motor rated current</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#x0000FFFF</MaxValue>
									<DefaultValue>#x0000FFFF</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6076</Index>
								<Name>Motor rated torque</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#x0000FFFF</MaxValue>
									<DefaultValue>#x0000FFFF</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6077</Index>
								<Name>Torque actual value </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#xF060</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6078</Index>
								<Name>Current actual value</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#xD8F0</MinValue>
									<MaxValue>#x2710</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6079</Index>
								<Name>DC link circuit voltage</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#x000003E8</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
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								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x02</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>ip time units </Name>
										<Info>
											<MinValue>#x00</MinValue>
											<MaxValue>#xFF</MaxValue>
											<DefaultValue>#x01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>ip time index </Name>
										<Info>
											<MinValue>#x80</MinValue>
											<MaxValue>#x7F</MaxValue>
											<DefaultValue>#xFD</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C5</Index>
								<Name>Max acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C6</Index>
								<Name>Max deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60E0</Index>
								<Name>Positive torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60E1</Index>
								<Name>Negative torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#x0FA0</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F2</Index>
								<Name>Positioning option code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<MinValue>#x0000</MinValue>
									<MaxValue>#xFFFF</MaxValue>
									<DefaultValue>#x0000</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F4</Index>
								<Name>Following error actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60F8</Index>
								<Name>Max slippage</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x80000000</MinValue>
									<MaxValue>#x7FFFFFFF</MaxValue>
									<DefaultValue>#x00030D40</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FC</Index>
								<Name>Position demand internal value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>Number of Entries</Name>
										<Info>
											<DefaultValue>#x02</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Physical outputs</Name>
										<Info>
											<MinValue>#x00000000</MinValue>
											<MaxValue>#xFFFFFFFF</MaxValue>
											<DefaultValue>#x00000000</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Bitmask</Name>
										<Info>
											<MinValue>#x00000000</MinValue>
											<MaxValue>#xFFFFFFFF</MaxValue>
											<DefaultValue>#x00000000</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x000003E8</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported drive modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<MinValue>#x00000000</MinValue>
									<MaxValue>#xFFFFFFFF</MaxValue>
									<DefaultValue>#x00000000</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1400" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm DefaultSize="9" StartAddress="#x1800" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm DefaultSize="25" StartAddress="#x1C00" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="false" Sm="2">
					<Index>#x1600</Index>
					<Name>1st RxPdo mapping</Name>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation </Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="false">
					<Index>#x1601</Index>
					<Name>2nd RxPdo mapping</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes 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>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6080</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max motor speed</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="false">
					<Index>#x1602</Index>
					<Name>3rd RxPdo mapping</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation </Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6072</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Max Torque</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>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="false">
					<Index>#x1603</Index>
					<Name>4th RxPdo mapping</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes 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>#x6072</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Max torque</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>#x6080</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max motor speed</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="true">
					<Index>#x1604</Index>
					<Name>5th RxPdo mapping</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<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>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</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>Negative 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 Fixed="false" Sm="3">
					<Index>#x1a00</Index>
					<Name>1st TxPdo mapping</Name>
					<Exclude>#x1A01</Exclude>
					<Exclude>#x1A02</Exclude>
					<Exclude>#x1A03</Exclude>
					<Exclude>#x1A04</Exclude>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Error Code</Name>
						<DataType>UINT</DataType>
					</Entry>
					<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>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</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 pos1 pos value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Following error actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x213F</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Servo Error</Name>
						<DataType>UINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="false">
					<Index>#x1a01</Index>
					<Name>2nd TxPdo mapping</Name>
					<Exclude>#x1A00</Exclude>
					<Exclude>#x1A02</Exclude>
					<Exclude>#x1A03</Exclude>
					<Exclude>#x1A04</Exclude>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Error code</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6077</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Torque actual value</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#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 pos1 pos value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BB</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch probe pos1 neg 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>
				<TxPdo Fixed="false">
					<Index>#x1a02</Index>
					<Name>3rd TxPdo mapping</Name>
					<Exclude>#x1A00</Exclude>
					<Exclude>#x1A01</Exclude>
					<Exclude>#x1A03</Exclude>
					<Exclude>#x1A04</Exclude>
					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
						<Index>#x60BA</Index>
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						<Name>Touch probe pos1 pos value</Name>
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					<Entry>
						<Index>#x60FD</Index>
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						<Name>Digital inputs</Name>
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					<Index>#x1a03</Index>
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						<Index>#x603F</Index>
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						<Index>#x606C</Index>
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						<BitLen>16</BitLen>
						<Name>Touch probe status</Name>
						<DataType>UINT</DataType>
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						<Index>#x60BA</Index>
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						<Name>Touch probe pos1 pos value</Name>
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					<Entry>
						<Index>#x60FD</Index>
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						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
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				<TxPdo Fixed="true">
					<Index>#x1a04</Index>
					<Name>5th TxPdo mapping</Name>
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					<Exclude>#x1A02</Exclude>
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						<Index>#x603F</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Error Code</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
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						<Index>#x6077</Index>
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						<Name>Torque actual value</Name>
						<DataType>INT</DataType>
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					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of operation display</Name>
						<DataType>SINT</DataType>
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					<Entry>
						<Index>#x60F4</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Following error actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>0</SubIndex>
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						<Name>Touch probe status</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch probe pos1 pos value</Name>
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					<Entry>
						<Index>#x60BC</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe2 Pos1 Pos Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x606C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Velocity actual value</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>0</SubIndex>
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						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
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				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="true" PdoAssign="true" CompleteAccess="false" PdoConfig="true">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
						</InitCmd>
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					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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					<OpMode>
						<Name>FreeRun</Name>
						<Desc>Free-Run</Desc>
						<AssignActivate>#x0</AssignActivate>
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						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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				</Dc>
				<Eeprom>
					<ByteSize>4096</ByteSize>
					<ConfigData>8D0E84CC88130000000000800000</ConfigData>
				</Eeprom>
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		</Devices>
	</Descriptions>
</EtherCATInfo>
