<?xml version="1.0" encoding="utf-8"?>
<!-- edited with XMLSpy v2013 (http://www.altova.com) by  () -->
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" Version="1.2" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
    <Vendor>
        <Id>#x0000060A</Id>
        <Name>ESTUN AUTOMATION TECHNOLOGY CO.,LTD</Name>
        <Image16x14>ESTUN</Image16x14>
    </Vendor>
    <Descriptions>
        <Groups>
            <Group SortOrder="100">
                <Type>Drive</Type>
                <Name LcId="1033">ESTUN SERVO Drives</Name>
                <Image16x14>ESTUN</Image16x14>
            </Group>
        </Groups>
        <Devices>
            <!--ProNet CiA 402-->
            <Device Physics="YY">
                <!--ProNet Test-->
                <Type ProductCode="#x00000001" RevisionNo="#x00000001" UseLrdLwr="true">ESTUN ProNet</Type>
                <Name LcId="1033"><![CDATA[ProNet]]></Name>
                <GroupType>Drive</GroupType>
                <Profile>
                    <ProfileNo>402</ProfileNo>
                    <Dictionary>
                        <DataTypes>
                            <DataType>
                                <Name>UDINT</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>UINT</Name>
                                <BitSize>16</BitSize>
                            </DataType>
                            <DataType>
                                <Name>INT</Name>
                                <BitSize>16</BitSize>
                            </DataType>
                            <DataType>
                                <Name>SINT</Name>
                                <BitSize>8</BitSize>
                            </DataType>
                            <DataType>
                                <Name>USINT</Name>
                                <BitSize>8</BitSize>
                            </DataType>
                            <DataType>
                                <Name>DINT</Name>
                                <BitSize>32</BitSize>
                            </DataType>
                            <DataType>
                                <Name>STRING(7)</Name>
                                <BitSize>56</BitSize>
                            </DataType>
                            <DataType>
                                <Name>STRING(8)</Name>
                                <BitSize>64</BitSize>
                            </DataType>
                            <DataType>
                                <Name>STRING(20)</Name>
                                <BitSize>160</BitSize>
                            </DataType>
                            <DataType>
                                <Name>DT1003</Name>
                                <BitSize>272</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Standard error field1</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Standard error field2</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>48</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Standard error field3</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>80</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Standard error field4</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>112</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>5</SubIdx>
                                    <Name>Standard error field5</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>144</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>6</SubIdx>
                                    <Name>Standard error field6</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>176</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>7</SubIdx>
                                    <Name>Standard error field7</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>208</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>8</SubIdx>
                                    <Name>Standard error field8</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>240</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1018</Name>
                                <BitSize>144</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</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>m</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 Number</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>DT1600</Name>
                                <BitSize>272</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Output Object 1</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Output Object 2</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>48</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Output Object 3</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>80</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Output Object 4</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>112</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>5</SubIdx>
                                    <Name>Output Object 5</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>144</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>6</SubIdx>
                                    <Name>Output Object 6</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>176</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>7</SubIdx>
                                    <Name>Output Object 7</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>208</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>8</SubIdx>
                                    <Name>Output Object 8</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>240</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>9</SubIdx>
                                    <Name>Output Object 9</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>272</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>10</SubIdx>
                                    <Name>Output Object 10</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>304</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1A00</Name>
                                <BitSize>272</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Input Object 1</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Input Object 2</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>48</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Input Object 3</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>80</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>4</SubIdx>
                                    <Name>Input Object 4</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>112</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>5</SubIdx>
                                    <Name>Input Object 5</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>144</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>6</SubIdx>
                                    <Name>Input Object 6</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>176</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>7</SubIdx>
                                    <Name>Input Object 7</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>208</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>8</SubIdx>
                                    <Name>Input Object 8</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>240</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>9</SubIdx>
                                    <Name>Input Object 9</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>272</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>10</SubIdx>
                                    <Name>Input Object 10</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>304</BitOffs>
                                    <Flags>
                                        <Access>rw</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 used
Sync Manager
channels</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>
                                <Name>DT1C10</Name>
                                <BitSize>16</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C12ARR</Name>
                                <BaseType>UINT</BaseType>
                                <BitSize>32</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1C12</Name>
                                <BitSize>48</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1C12ARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C13ARR</Name>
                                <BaseType>UINT</BaseType>
                                <BitSize>32</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT1C13</Name>
                                <BitSize>48</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT1C13ARR</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT1C32</Name>
                                <BitSize>64</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Synchronization type</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Cycle time / ns</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>32</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>3</SubIdx>
                                    <Name>Shift time/ns</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>64</BitOffs>
                                    <Flags>
                                        <Access>ro</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT2000</Name>
                                <BitSize>64</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of elements</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>1</SubIdx>
                                    <Name>Synchronization type</Name>
                                    <Type>UINT</Type>
                                    <BitSize>16</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                                <SubItem>
                                    <SubIdx>2</SubIdx>
                                    <Name>Cycle time / ns</Name>
                                    <Type>UDINT</Type>
                                    <BitSize>32</BitSize>
                                    <BitOffs>32</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT607BARR</Name>
                                <BaseType>DINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT607B</Name>
                                <BitSize>80</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
                                    <Type>USINT</Type>
                                    <BitSize>8</BitSize>
                                    <BitOffs>0</BitOffs>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT607BARR</Type>
                                    <BitSize>64</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT6093ARR</Name>
                                <BaseType>UDINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </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>
                                </SubItem>
                                <SubItem>
                                    <Name>Elements</Name>
                                    <Type>DT6093ARR</Type>
                                    <BitSize>64</BitSize>
                                    <BitOffs>16</BitOffs>
                                    <Flags>
                                        <Access>rw</Access>
                                        <Category>o</Category>
                                    </Flags>
                                </SubItem>
                            </DataType>
                            <DataType>
                                <Name>DT6094ARR</Name>
                                <BaseType>UDINT</BaseType>
                                <BitSize>64</BitSize>
                                <ArrayInfo>
                                    <LBound>1</LBound>
                                    <Elements>2</Elements>
                                </ArrayInfo>
                            </DataType>
                            <DataType>
                                <Name>DT6094</Name>
                                <BitSize>80</BitSize>
                                <SubItem>
                                    <SubIdx>0</SubIdx>
                                    <Name>Number of entries</Name>
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                                    <Access>ro</Access>
                                    <Category>o</Category>
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                                <Name>Following error window</Name>
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                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
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                            <Object>
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                                <Name>Following error time out</Name>
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                            <Object>
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                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
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                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
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                            <Object>
                                <Index>#x6069</Index>
                                <Name>velocity sensor actual value</Name>
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                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
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                            <Object>
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                                <Name>velocity demand value</Name>
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                                    <Access>ro</Access>
                                    <Category>c</Category>
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                            <Object>
                                <Index>#x606c</Index>
                                <Name>Velocity actual value</Name>
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                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
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                            <Object>
                                <Index>#x606D</Index>
                                <Name>Velocity window</Name>
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                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x606E</Index>
                                <Name>Velocity window time</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6070</Index>
                                <Name>Velocity threshold time</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6071</Index>
                                <Name>Target Torque</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6072</Index>
                                <Name>Max Torque</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6077</Index>
                                <Name>Torque actual value</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6078</Index>
                                <Name>Current actual value</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607a</Index>
                                <Name>Target position</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607b</Index>
                                <Name>Position range limit</Name>
                                <Type>DT607B</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>c</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607c</Index>
                                <Name>Home offset</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607d</Index>
                                <Name>Software Position Limit</Name>
                                <Type>DT607B</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>c</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607e</Index>
                                <Name>Polarity</Name>
                                <Type>USINT</Type>
                                <BitSize>8</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x607f</Index>
                                <Name>Max Profile Velocity</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6081</Index>
                                <Name>Profile velocity</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>c</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6082</Index>
                                <Name>End velocity</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6083</Index>
                                <Name>Profile acceleraion</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6084</Index>
                                <Name>Profile deceleration</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6085</Index>
                                <Name>Quick stop deceleration</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6086</Index>
                                <Name>Motion profile type</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6087</Index>
                                <Name>Torque Slope</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6093</Index>
                                <Name>Position Factor</Name>
                                <Type>DT6093</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6094</Index>
                                <Name>Velocity encoder factor</Name>
                                <Type>DT6094</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6097</Index>
                                <Name>Acceleration Factor</Name>
                                <Type>DT6097</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6098</Index>
                                <Name>Homing method</Name>
                                <Type>SINT</Type>
                                <BitSize>8</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6099</Index>
                                <Name>Homing speed</Name>
                                <Type>DT6099</Type>
                                <BitSize>80</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x609a</Index>
                                <Name>Homing acceleration</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60A4</Index>
                                <Name>Profile jerk</Name>
                                <Type>DT60a4</Type>
                                <BitSize>48</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60B1</Index>
                                <Name>Velocity Offset</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60B2</Index>
                                <Name>Torque Offset</Name>
                                <Type>INT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60B8</Index>
                                <Name>Touch Probe Function</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60B9</Index>
                                <Name>Touch Probe Status</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60BA</Index>
                                <Name>Touch Probe Pos1 Pos Value</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60BC</Index>
                                <Name>Touch Probe Pos2 Pos Value</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60C1</Index>
                                <Name>Interpolation data record</Name>
                                <Type>DT60c1</Type>
                                <BitSize>48</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>c</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60C2</Index>
                                <Name>Interpolation time period</Name>
                                <Type>DT60c2</Type>
                                <BitSize>24</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>c</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60E0</Index>
                                <Name>Positive Torque Limit Value</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60E1</Index>
                                <Name>Negtive Torque Limit Value</Name>
                                <Type>UINT</Type>
                                <BitSize>16</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fa</Index>
                                <Name>Control effort</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fc</Index>
                                <Name>Position demand value*</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fd</Index>
                                <Name>Digital inputs</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60fe</Index>
                                <Name>Digital outputs</Name>
                                <Type>DT60fe</Type>
                                <BitSize>96</BitSize>
                                <Info>
                                    <SubItem>
                                        <Name>Number of entries</Name>
                                        <Info>
                                            <DefaultData>02</DefaultData>
                                        </Info>
                                    </SubItem>
                                </Info>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>c</Category>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x60ff</Index>
                                <Name>Target velocity</Name>
                                <Type>DINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>rw</Access>
                                    <Category>o</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                            <Object>
                                <Index>#x6502</Index>
                                <Name>Supported drive modes</Name>
                                <Type>UDINT</Type>
                                <BitSize>32</BitSize>
                                <Flags>
                                    <Access>ro</Access>
                                    <Category>m</Category>
                                    <PdoMapping>RT</PdoMapping>
                                </Flags>
                            </Object>
                        </Objects>
                    </Dictionary>
                </Profile>
                <Fmmu Su="0" Sm="2">Outputs</Fmmu>
                <Fmmu Su="0" Sm="3">Inputs</Fmmu>
                <Fmmu>MBoxState</Fmmu>
                <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x36" Enable="1">MBoxOut</Sm>
                <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x32" Enable="1">MBoxIn</Sm>
                <Sm MinSize="0" MaxSize="32" DefaultSize="6" StartAddress="#x1100" ControlByte="#x74" Enable="1">Outputs</Sm>
                <Sm MinSize="0" MaxSize="32" DefaultSize="6" StartAddress="#x1d00" ControlByte="#x30" Enable="1">Inputs</Sm>
                <!-- x1600, PV Mode-->
                <RxPdo Fixed="false">
                    <Index>#x1600</Index>
                    <Name>CiA402 PV Mode (RX)</Name>
                    <Exclude>#x1601</Exclude>
                    <Exclude>#x1602</Exclude>
                    <Exclude>#x1603</Exclude>
                    <Entry>
                        <!-- wControlword -->
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>wControlword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!--dwTargetvelocity-->
                        <Index>#x60FF</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>dwTargetVelocity</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                </RxPdo>
                <!-- x1601, PP Mode (RX)-->
                <RxPdo Fixed="false">
                    <Index>#x1601</Index>
                    <Name>CiA402 PP Mode (RX)</Name>
                    <Exclude>#x1600</Exclude>
                    <Exclude>#x1602</Exclude>
                    <Exclude>#x1603</Exclude>
                    <Entry>
                        <!-- wControlword -->
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Controlword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- wTargetPos-->
                        <Index>#x607A</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Target Position</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                </RxPdo>
                <!-- x1602, CoE Cyclic Synchronization Position Mode (RX)-->
                <RxPdo Fixed="false" Sm="2" Su="0">
                    <Index>#x1602</Index>
                    <Name>CoE CSP Mode (RX)</Name>
                    <Exclude>#x1600</Exclude>
                    <Exclude>#x1601</Exclude>
                    <Exclude>#x1603</Exclude>
                    <Entry>
                        <!--wControlword -->
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Controlword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!--wTargetPos-->
                        <Index>#x607A</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Target Position</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!--Touch Probe Function-->
                        <Index>#x60B8</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Touch Probe Function</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!--wPhysicalOutput-->
                        <Index>#x60FE</Index>
                        <SubIndex>1</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Physical Output</Name>
                        <DataType>UDINT</DataType>
                    </Entry>
                </RxPdo>
                <!-- x1603, Homing Mode (RX)-->
                <RxPdo Fixed="false">
                    <Index>#x1603</Index>
                    <Name>HM (RX)</Name>
                    <Exclude>#x1600</Exclude>
                    <Exclude>#x1601</Exclude>
                    <Exclude>#x1602</Exclude>
                    <Entry>
                        <!-- wControlword -->
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Controlword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </RxPdo>
                <!-- x1A00,PV Mode-->
                <TxPdo Fixed="false">
                    <Index>#x1A00</Index>
                    <Name>CiA402 PV Mode (TX)</Name>
                    <Exclude>#x1A01</Exclude>
                    <Exclude>#x1A02</Exclude>
                    <Exclude>#x1A03</Exclude>
                    <Entry>
                        <!-- wStatusword -->
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>wStatusword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Velocity Actual Value -->
                        <Index>#x606C</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Velocity actual value</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Torque Actual Value-->
                        <Index>#x6077</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Torque actual value</Name>
                        <DataType>INT</DataType>
                    </Entry>
                </TxPdo>
                <!-- x1A01,PP Mode (TX)-->
                <TxPdo Fixed="false">
                    <Index>#x1A01</Index>
                    <Name>CiA402 PP Mode (TX)</Name>
                    <Exclude>#x1A00</Exclude>
                    <Exclude>#x1A02</Exclude>
                    <Exclude>#x1A03</Exclude>
                    <Entry>
                        <!-- wStatusword -->
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Statusword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Position Actual Value -->
                        <Index>#x6064</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Position actual value</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Torque Actual Value-->
                        <Index>#x6077</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Torque actual value</Name>
                        <DataType>INT</DataType>
                    </Entry>
                </TxPdo>
                <!-- x1A02, CoE Cyclic Synchronization Position Mode (TX)-->
                <TxPdo Fixed="false" Sm="3" Su="0">
                    <Index>#x1A02</Index>
                    <Name>CoE CSP Mode ((TX)</Name>
                    <Exclude>#x1A00</Exclude>
                    <Exclude>#x1A01</Exclude>
                    <Exclude>#x1A03</Exclude>
                    <Entry>
                        <!-- wStatusword -->
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Statusword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Position Actual Value -->
                        <Index>#x6064</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Position actual value</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!-- Torque Actual Value-->
                        <Index>#x6077</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Torque actual value</Name>
                        <DataType>INT</DataType>
                    </Entry>
                    <Entry>
                        <!--Following Error Actual Value-->
                        <Index>#x60F4</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>FollowingErrorActualValue</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!--Touch Probe Status-->
                        <Index>#x60b9</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Touch Probe Status</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                    <Entry>
                        <!--Touch Probe Pos1 Pos Value-->
                        <Index>#x60ba</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Touch Probe Pos1 Pos Value</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!--Touch Probe Pos2 Pos Value-->
                        <Index>#x60bc</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Touch Probe Pos2 Pos Value</Name>
                        <DataType>DINT</DataType>
                    </Entry>
                    <Entry>
                        <!--PhysicalInputs-->
                        <Index>#x60FD</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>32</BitLen>
                        <Name>Physical Inputs</Name>
                        <DataType>UDINT</DataType>
                    </Entry>
                </TxPdo>
                <!-- x1A03, HM (TX)-->
                <TxPdo Fixed="false">
                    <Index>#x1A03</Index>
                    <Name>HM((TX)</Name>
                    <Exclude>#x1A00</Exclude>
                    <Exclude>#x1A01</Exclude>
                    <Exclude>#x1A02</Exclude>
                    <Entry>
                        <!-- wStatusword -->
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Statusword</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </TxPdo>
                <Mailbox>
                    <CoE DS402Channels="1" PdoConfig="true" PdoAssign="true">
                        <InitCmd>
                            <Transition>PS</Transition>
                            <Index>24672</Index>
                            <SubIndex>0</SubIndex>
                            <Data>08</Data>
                        </InitCmd>
                    </CoE>
                </Mailbox>
                <Dc UnknownFRMW="1">
                    <OpMode>
                        <Name>DcSync</Name>
                        <Desc>DC for synchronization</Desc>
                        <AssignActivate>#x0300</AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                        <ShiftTimeSync0>0</ShiftTimeSync0>
                        <Sm No="2">
                            <SyncType>2</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinAfterSync="0">0</ShiftTime>
                        </Sm>
                        <Sm No="3">
                            <SyncType>2</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinBeforeFrame="100">0</ShiftTime>
                        </Sm>
                    </OpMode>
                    <OpMode>
                        <Name>DcOff</Name>
                        <Desc>DC unused</Desc>
                        <AssignActivate>#x0000</AssignActivate>
                        <Sm No="2">
                            <SyncType>1</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinAfterSync="100">100</ShiftTime>
                        </Sm>
                        <Sm No="3">
                            <SyncType>34</SyncType>
                            <CycleTime Factor="1">0</CycleTime>
                            <ShiftTime MinBeforeFrame="100">0</ShiftTime>
                        </Sm>
                    </OpMode>
                </Dc>
                <Eeprom>
                    <ByteSize>65536</ByteSize>
                    <ConfigData>060001CCE8030000</ConfigData>
                </Eeprom>
            </Device>
        </Devices>
    </Descriptions>
</EtherCATInfo>