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cassie-v3-eni.xml
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cassie-v3-eni.xml
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<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATConfig.xsd" Version="1.3"><Config><Master><Info><Name><![CDATA[Cassie]]></Name><Destination>010105010000</Destination><Source>8cae4cfed222</Source><EtherType>a488</EtherType></Info><InitCmds><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[read slave count]]></Comment><Requires>cycle</Requires><Cmd>7</Cmd><Adp>0</Adp><Ado>304</Ado><Data>0000</Data><Retries>0</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[read slave count]]></Comment><Requires>cycle</Requires><Cmd>7</Cmd><Adp>0</Adp><Ado>304</Ado><Data>0000</Data><Retries>0</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[enable ECAT IRQ]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>512</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear configured addresses]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>16</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear crc register]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>768</Ado><Data>0000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear fmmu]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>1536</Ado><DataLength>256</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear sm]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>2048</Ado><DataLength>256</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear dc system time]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>2320</Ado><DataLength>32</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[clear dc cycle cfg]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>2433</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[reset dc speed]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>2352</Ado><Data>0010</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[configure dc filter]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>2356</Ado><Data>000c</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><BeforeSlave>1</BeforeSlave><Comment><![CDATA[en/disable second physical address]]></Comment><Requires>cycle</Requires><Cmd>8</Cmd><Adp>0</Adp><Ado>259</Ado><Data>00</Data><Retries>3</Retries></InitCmd></InitCmds></Master><Slave><Info><Name><![CDATA[Pelvis Medulla]]></Name><PhysAddr>1001</PhysAddr><AutoIncAddr>0</AutoIncAddr><Physics>YY</Physics><VendorId>2446</VendorId><ProductCode>33</ProductCode><RevisionNo>1</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>656</BitStart><BitLength>240</BitLength></Send><Recv><BitStart>656</BitStart><BitLength>1096</BitLength></Recv><Sm0><Type>Sm0</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm0><Sm1><Type>Sm1</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm1><Sm2><Type>Outputs</Type><StartAddress>4096</StartAddress><ControlByte>4</ControlByte><Enable>1</Enable><Pdo>5633</Pdo><Pdo>5634</Pdo></Sm2><Sm3><Type>Inputs</Type><StartAddress>8192</StartAddress><ControlByte>0</ControlByte><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6657</Pdo><Pdo>6658</Pdo><Pdo>6659</Pdo><Pdo>6660</Pdo></Sm3><TxPdo Fixed="1" Sm="3"><Index>#x1a00</Index><Name>Base Inputs</Name><Entry><Index>#x5</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Counter</Name><DataType>USINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>2</SubIndex><BitLen>16</BitLen><Name>CPU Load</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a01</Index><Name>Radio Inputs</Name><Entry><Index>#x3</Index><SubIndex>10</SubIndex><BitLen>16</BitLen><Name>Channel 01</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>11</SubIndex><BitLen>16</BitLen><Name>Channel 02</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>12</SubIndex><BitLen>16</BitLen><Name>Channel 03</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>13</SubIndex><BitLen>16</BitLen><Name>Channel 04</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>14</SubIndex><BitLen>16</BitLen><Name>Channel 05</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>15</SubIndex><BitLen>16</BitLen><Name>Channel 06</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>16</SubIndex><BitLen>16</BitLen><Name>Channel 07</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>17</SubIndex><BitLen>16</BitLen><Name>Channel 08</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>18</SubIndex><BitLen>16</BitLen><Name>Channel 09</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>19</SubIndex><BitLen>16</BitLen><Name>Channel 10</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>20</SubIndex><BitLen>16</BitLen><Name>Channel 11</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>21</SubIndex><BitLen>16</BitLen><Name>Channel 12</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>22</SubIndex><BitLen>16</BitLen><Name>Channel 13</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>23</SubIndex><BitLen>16</BitLen><Name>Channel 14</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>24</SubIndex><BitLen>16</BitLen><Name>Channel 15</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>25</SubIndex><BitLen>16</BitLen><Name>Channel 16</Name><DataType>INT</DataType></Entry><Entry><Index>#x1</Index><SubIndex>26</SubIndex><BitLen>1</BitLen><Name>Radio-Receiver Signal Good</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x1</Index><SubIndex>27</SubIndex><BitLen>1</BitLen><Name>Receiver-Medulla Signal Good</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>6</BitLen></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>VN Inputs</Name><Entry><Index>#x8</Index><SubIndex>50</SubIndex><BitLen>32</BitLen><Name>Orientation Qx</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>51</SubIndex><BitLen>32</BitLen><Name>Orientation Qy</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>52</SubIndex><BitLen>32</BitLen><Name>Orientation Qz</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>53</SubIndex><BitLen>32</BitLen><Name>Orientation Qw</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>54</SubIndex><BitLen>32</BitLen><Name>Angular Velocity X</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>55</SubIndex><BitLen>32</BitLen><Name>Angular Velocity Y</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>56</SubIndex><BitLen>32</BitLen><Name>Angular Velocity Z</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>57</SubIndex><BitLen>32</BitLen><Name>Linear Acceleration X</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>58</SubIndex><BitLen>32</BitLen><Name>Linear Acceleration Y</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>59</SubIndex><BitLen>32</BitLen><Name>Linear Acceleration Z</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>60</SubIndex><BitLen>32</BitLen><Name>Magnetic Field X</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>61</SubIndex><BitLen>32</BitLen><Name>Magnetic Field Y</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>62</SubIndex><BitLen>32</BitLen><Name>Magnetic Field Z</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>63</SubIndex><BitLen>32</BitLen><Name>Temperature</Name><DataType>REAL</DataType></Entry><Entry><Index>#x8</Index><SubIndex>64</SubIndex><BitLen>32</BitLen><Name>Pressure</Name><DataType>REAL</DataType></Entry><Entry><Index>#x6</Index><SubIndex>65</SubIndex><BitLen>16</BitLen><Name>VPE Status</Name><DataType>UINT</DataType></Entry><Entry><Index>#x1</Index><SubIndex>66</SubIndex><BitLen>1</BitLen><Name>VN Data Good</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>7</BitLen></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a03</Index><Name>BMS Inputs</Name><Entry><Index>#x6</Index><SubIndex>70</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 01</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>71</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 02</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>72</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 03</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>73</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 04</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>74</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 05</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>75</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 06</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>76</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 07</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>77</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 08</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>78</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 09</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>79</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 10</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>80</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 11</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>81</SubIndex><BitLen>16</BitLen><Name>Cell Voltage 12</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>82</SubIndex><BitLen>16</BitLen><Name>Temperature 1</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>83</SubIndex><BitLen>16</BitLen><Name>Temperature 2</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>84</SubIndex><BitLen>16</BitLen><Name>Temperature 3</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>85</SubIndex><BitLen>16</BitLen><Name>Temperature 4</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>86</SubIndex><BitLen>16</BitLen><Name>Current</Name><DataType>UINT</DataType></Entry><Entry><Index>#x1</Index><SubIndex>87</SubIndex><BitLen>1</BitLen><Name>Battery Data Good</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>7</BitLen></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a04</Index><Name>Misc Inputs</Name><Entry><Index>#x1</Index><SubIndex>91</SubIndex><BitLen>1</BitLen><Name>Bleeder State</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x1</Index><SubIndex>92</SubIndex><BitLen>1</BitLen><Name>Right Reed Switch State</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x1</Index><SubIndex>93</SubIndex><BitLen>1</BitLen><Name>Left Reed Switch State</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>5</BitLen></Entry><Entry><Index>#x3</Index><SubIndex>95</SubIndex><BitLen>16</BitLen><Name>VTM Temperature</Name><DataType>INT</DataType></Entry></TxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1601</Index><Name>Radio Outputs</Name><Entry><Index>#x3</Index><SubIndex>110</SubIndex><BitLen>16</BitLen><Name>Channel 01</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>111</SubIndex><BitLen>16</BitLen><Name>Channel 02</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>112</SubIndex><BitLen>16</BitLen><Name>Channel 03</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>113</SubIndex><BitLen>16</BitLen><Name>Channel 04</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>114</SubIndex><BitLen>16</BitLen><Name>Channel 05</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>115</SubIndex><BitLen>16</BitLen><Name>Channel 06</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>116</SubIndex><BitLen>16</BitLen><Name>Channel 07</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>117</SubIndex><BitLen>16</BitLen><Name>Channel 08</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>118</SubIndex><BitLen>16</BitLen><Name>Channel 09</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>119</SubIndex><BitLen>16</BitLen><Name>Channel 10</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>120</SubIndex><BitLen>16</BitLen><Name>Channel 11</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>121</SubIndex><BitLen>16</BitLen><Name>Channel 12</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>122</SubIndex><BitLen>16</BitLen><Name>Channel 13</Name><DataType>INT</DataType></Entry><Entry><Index>#x3</Index><SubIndex>123</SubIndex><BitLen>16</BitLen><Name>Channel 14</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Misc Outputs</Name><Entry><Index>#x1</Index><SubIndex>130</SubIndex><BitLen>1</BitLen><Name>Medulla STO</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x1</Index><SubIndex>131</SubIndex><BitLen>1</BitLen><Name>Piezo State</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>6</BitLen></Entry><Entry><Index>#x5</Index><SubIndex>132</SubIndex><BitLen>8</BitLen><Name>Piezo Tone</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>288</Ado><Data>0100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>0</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>0</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>288</Ado><Data>0100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>0</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>0</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>0</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>8e090000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>0</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>0</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>21000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>16</Ado><Data>e903</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>2048</Ado><DataLength>32</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 0]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>2048</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 1]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>2056</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>2064</Ado><Data>00101e0004000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>2072</Ado><Data>0020890000000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>1536</Ado><Data>000000011e0000070010000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>1552</Ado><Data>00000001890000070020000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1001</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>0</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1001</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1001</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>1</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Hip Roll Drive]]></Name><PhysAddr>1002</PhysAddr><AutoIncAddr>65535</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2104</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2104</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65535</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65535</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65535</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65535</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65535</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65535</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65535</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>16</Ado><Data>ea03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65535</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1536</Ado><Data>00080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1552</Ado><Data>00080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1002</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65535</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1002</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1002</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1001</PhysAddr></PreviousPort><DC><PotentialReferenceClock>1</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Hip Yaw Drive]]></Name><PhysAddr>1003</PhysAddr><AutoIncAddr>65534</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2248</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2248</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65534</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65534</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65534</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65534</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65534</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65534</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65534</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>16</Ado><Data>eb03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65534</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1536</Ado><Data>12080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1552</Ado><Data>12080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1003</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65534</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1003</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1003</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1002</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Hip Pitch Drive]]></Name><PhysAddr>1004</PhysAddr><AutoIncAddr>65533</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2392</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2392</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65533</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65533</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65533</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65533</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65533</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65533</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65533</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>16</Ado><Data>ec03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65533</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1536</Ado><Data>24080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1552</Ado><Data>24080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1004</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65533</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1004</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1004</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1003</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Knee Drive]]></Name><PhysAddr>1005</PhysAddr><AutoIncAddr>65532</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2536</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2536</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65532</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65532</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65532</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65532</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65532</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65532</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65532</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>16</Ado><Data>ed03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65532</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1536</Ado><Data>36080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1552</Ado><Data>36080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1005</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65532</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1005</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1005</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1004</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Foot Drive]]></Name><PhysAddr>1006</PhysAddr><AutoIncAddr>65531</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2680</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2680</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65531</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65531</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65531</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65531</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65531</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65531</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65531</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>16</Ado><Data>ee03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65531</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1536</Ado><Data>48080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1552</Ado><Data>48080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1006</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65531</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1006</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1006</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1005</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Left Leg Medulla]]></Name><PhysAddr>1007</PhysAddr><AutoIncAddr>65530</AutoIncAddr><Physics>YY</Physics><VendorId>2446</VendorId><ProductCode>34</ProductCode><RevisionNo>1</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Recv><BitStart>1752</BitStart><BitLength>128</BitLength></Recv><Sm0><Type>Sm0</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm0><Sm1><Type>Sm1</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm1><Sm2><Type>Outputs</Type><StartAddress>4096</StartAddress><ControlByte>4</ControlByte><Enable>1</Enable></Sm2><Sm3><Type>Inputs</Type><StartAddress>8192</StartAddress><ControlByte>0</ControlByte><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6657</Pdo></Sm3><TxPdo Fixed="1" Sm="3"><Index>#x1a00</Index><Name>Base Inputs</Name><Entry><Index>#x5</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Counter</Name><DataType>USINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>2</SubIndex><BitLen>16</BitLen><Name>CPU Load</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a01</Index><Name>Misc Inputs</Name><Entry><Index>#x4</Index><SubIndex>10</SubIndex><BitLen>32</BitLen><Name>Knee Spring Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x4</Index><SubIndex>11</SubIndex><BitLen>32</BitLen><Name>Ankle Joint Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x4</Index><SubIndex>12</SubIndex><BitLen>32</BitLen><Name>Foot Joint Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x1</Index><SubIndex>13</SubIndex><BitLen>1</BitLen><Name>Reed Switch</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>7</BitLen></Entry></TxPdo></ProcessData><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>288</Ado><Data>0100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65530</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65530</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>288</Ado><Data>0100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65530</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65530</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65530</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>8e090000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65530</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65530</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>22000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>16</Ado><Data>ef03</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>2048</Ado><DataLength>32</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 0]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>2048</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 1]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>2056</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>2064</Ado><Data>0010000004000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>2072</Ado><Data>0020100000000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>1536</Ado><Data>00000000000000000000000200000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>1552</Ado><Data>89000001100000070020000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1007</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65530</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1007</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1007</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1006</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Hip Roll Drive]]></Name><PhysAddr>1008</PhysAddr><AutoIncAddr>65529</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2824</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2824</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65529</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65529</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65529</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65529</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65529</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65529</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65529</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>16</Ado><Data>f003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65529</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1536</Ado><Data>5a080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1552</Ado><Data>5a080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1008</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65529</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1008</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1008</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1007</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Hip Yaw Drive]]></Name><PhysAddr>1009</PhysAddr><AutoIncAddr>65528</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>2968</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>2968</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65528</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65528</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65528</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65528</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65528</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65528</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65528</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>16</Ado><Data>f103</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65528</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1536</Ado><Data>6c080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1552</Ado><Data>6c080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1009</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65528</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1009</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1009</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1008</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Foot Drive]]></Name><PhysAddr>1010</PhysAddr><AutoIncAddr>65527</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>3112</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>3112</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65527</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65527</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65527</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65527</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65527</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65527</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65527</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>16</Ado><Data>f203</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65527</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1536</Ado><Data>7e080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1552</Ado><Data>7e080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1010</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65527</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1010</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1010</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1009</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Knee Drive]]></Name><PhysAddr>1011</PhysAddr><AutoIncAddr>65526</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>3256</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>3256</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65526</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65526</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65526</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65526</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65526</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65526</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65526</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>16</Ado><Data>f303</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65526</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1536</Ado><Data>90080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1552</Ado><Data>90080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1011</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65526</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1011</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1011</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1010</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Hip Pitch Drive]]></Name><PhysAddr>1012</PhysAddr><AutoIncAddr>65525</AutoIncAddr><Physics>YY</Physics><VendorId>154</VendorId><ProductCode>198948</ProductCode><RevisionNo>66592</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Send><BitStart>3400</BitStart><BitLength>48</BitLength></Send><Recv><BitStart>3400</BitStart><BitLength>144</BitLength></Recv><Sm2><Type>Outputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4352</StartAddress><ControlByte>100</ControlByte><Enable>1</Enable><Pdo>5634</Pdo><Pdo>5643</Pdo></Sm2><Sm3><Type>Inputs</Type><MaxSize>32</MaxSize><DefaultSize>32</DefaultSize><StartAddress>4480</StartAddress><ControlByte>32</ControlByte><Enable>1</Enable><Pdo>6658</Pdo><Pdo>6673</Pdo><Pdo>6680</Pdo></Sm3><TxPdo Fixed="1"><Index>#x1a00</Index><Name>Inputs</Name><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a01</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a02</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a03</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a03</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a04</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a04</Index><Name>Inputs</Name><Exclude>#x1a00</Exclude><Exclude>#x1a01</Exclude><Exclude>#x1a02</Exclude><Exclude>#x1a03</Exclude><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error 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>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo><Index>#x1a07</Index><Name>Inputs</Name></TxPdo><TxPdo><Index>#x1a08</Index><Name>Inputs</Name></TxPdo><TxPdo Fixed="1"><Index>#x1a0a</Index><Name>Inputs</Name><Entry><Index>#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Status word</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0b</Index><Name>Inputs</Name><Entry><Index>#x6061</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation display</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0c</Index><Name>Inputs</Name><Entry><Index>#x6062</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand [UU]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0d</Index><Name>Inputs</Name><Entry><Index>#x6063</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Actual position [counts]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0e</Index><Name>Inputs</Name><Entry><Index>#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a0f</Index><Name>Inputs</Name><Entry><Index>#x6069</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity sensor actual value [counts/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a10</Index><Name>Inputs</Name><Entry><Index>#x606b</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity demand [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a11</Index><Name>Inputs</Name><Entry><Index>#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a12</Index><Name>Inputs</Name><Entry><Index>#x6074</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque demand value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a13</Index><Name>Inputs</Name><Entry><Index>#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a14</Index><Name>Inputs</Name><Entry><Index>#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe status</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a15</Index><Name>Inputs</Name><Entry><Index>#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Positive</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a16</Index><Name>Inputs</Name><Entry><Index>#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe Pos1 Negative</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a17</Index><Name>Inputs</Name><Entry><Index>#x60bc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 pos value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a18</Index><Name>Inputs</Name><Entry><Index>#x6079</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>DC link circuit voltage</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a19</Index><Name>Inputs</Name><Entry><Index>#x60f4</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Following error</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1a</Index><Name>Inputs</Name><Entry><Index>#x60fa</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Control Effort [cnt/sec]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1b</Index><Name>Inputs</Name><Entry><Index>#x60fc</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Demand Value [cnt]</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1c</Index><Name>Inputs</Name><Entry><Index>#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital Inputs</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1d</Index><Name>Inputs</Name><Entry><Index>#x2205</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>Stator Temp</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1e</Index><Name>Inputs</Name><Entry><Index>#x20a0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Auxiliary position actual value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a1f</Index><Name>Inputs</Name><Entry><Index>#x6078</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Current actual value</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a20</Index><Name>Inputs</Name><Entry><Index>#x60bd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch probe pos2 neg value</Name><DataType>DINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a21</Index><Name>Inputs</Name><Entry><Index>#x2085</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Extra Status Reg</Name><DataType>INT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a22</Index><Name>Inputs</Name><Entry><Index>#x1002</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Elmo Status Reg</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a23</Index><Name>Inputs</Name><Entry><Index>#x2202</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Inputs Value</Name><DataType>UDINT</DataType></Entry></TxPdo><TxPdo Fixed="1"><Index>#x1a24</Index><Name>Inputs</Name><Entry><Index>#x2203</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>App Object</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Fixed="1"><Index>#x1600</Index><Name>Outputs</Name><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1601</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x1602</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1603</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1604</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1605</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1605</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1606</Exclude><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>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry><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>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1606</Index><Name>Outputs</Name><Exclude>#x1600</Exclude><Exclude>#x1601</Exclude><Exclude>#x1602</Exclude><Exclude>#x1603</Exclude><Exclude>#x1604</Exclude><Exclude>#x1605</Exclude><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo><Index>#x1607</Index><Name>Outputs</Name></RxPdo><RxPdo><Index>#x1608</Index><Name>Outputs</Name></RxPdo><RxPdo Fixed="1"><Index>#x160a</Index><Name>Outputs</Name><Entry><Index>#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Control word</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1" Sm="2"><Index>#x160b</Index><Name>Outputs</Name><Entry><Index>#x6060</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Mode of operation</Name><DataType>SINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160c</Index><Name>Outputs</Name><Entry><Index>#x6071</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Target Torque</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160d</Index><Name>Outputs</Name><Entry><Index>#x6072</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Torque</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160e</Index><Name>Outputs</Name><Entry><Index>#x6073</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Max. Current</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x160f</Index><Name>Outputs</Name><Entry><Index>#x607a</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Position</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1611</Index><Name>Outputs</Name><Entry><Index>#x6081</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1612</Index><Name>Outputs</Name><Entry><Index>#x6082</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>End velocity</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1613</Index><Name>Outputs</Name><Entry><Index>#x6083</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Acceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1614</Index><Name>Outputs</Name><Entry><Index>#x6084</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Profile Deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1615</Index><Name>Outputs</Name><Entry><Index>#x6087</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Torque Slope</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1616</Index><Name>Outputs</Name><Entry><Index>#x60b0</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1617</Index><Name>Outputs</Name><Entry><Index>#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity Offset</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1618</Index><Name>Outputs</Name><Entry><Index>#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque Offset</Name><DataType>INT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1619</Index><Name>Outputs</Name><Entry><Index>#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Function</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161a</Index><Name>Outputs</Name><Entry><Index>#x2e00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Gain scheduling manual index</Name><DataType>UINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161c</Index><Name>Outputs</Name><Entry><Index>#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target Velocity</Name><DataType>DINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161d</Index><Name>Outputs</Name><Entry><Index>#x60fe</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Digital Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161e</Index><Name>Outputs</Name><Entry><Index>#x607e</Index><SubIndex>0</SubIndex><BitLen>8</BitLen><Name>Polarity</Name><DataType>USINT</DataType></Entry><Entry><Index>#x0</Index><BitLen>8</BitLen></Entry></RxPdo><RxPdo Fixed="1"><Index>#x161f</Index><Name>Outputs</Name><Entry><Index>#x6085</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Quick stop deceleration</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1620</Index><Name>Outputs</Name><Entry><Index>#x22a1</Index><SubIndex>1</SubIndex><BitLen>32</BitLen><Name>Extended Outputs</Name><DataType>UDINT</DataType></Entry></RxPdo><RxPdo Fixed="1"><Index>#x1621</Index><Name>Outputs</Name><Entry><Index>#x2005</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Fast Reference</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length><PollTime>50</PollTime></Recv><BootStrap><Send><Start>6144</Start><Length>140</Length></Send><Recv><Start>6400</Start><Length>140</Length></Recv></BootStrap><Protocol>EoE</Protocol><Protocol>CoE</Protocol><Protocol>FoE</Protocol><CoE><InitCmds><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C12)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear sm pdos (0x1C13)]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A07 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6663</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1A08 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>6664</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1607 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5639</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[clear pdo 0x1608 entries]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>5640</Index><SubIndex>0</SubIndex><Data>00</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>1</SubIndex><Data>0216</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>2</SubIndex><Data>0b16</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C12 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7186</Index><SubIndex>0</SubIndex><Data>02</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:01 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>1</SubIndex><Data>021a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:02 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>2</SubIndex><Data>111a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13:03 index]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>3</SubIndex><Data>181a</Data></InitCmd><InitCmd Fixed="1"><Transition>PS</Transition><Comment><![CDATA[download pdo 0x1C13 count]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>7187</Index><SubIndex>0</SubIndex><Data>03</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Op mode]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24672</Index><SubIndex>0</SubIndex><Data>0a</Data></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[Cycle time]]></Comment><Timeout>0</Timeout><Ccs>1</Ccs><Index>24770</Index><SubIndex>1</SubIndex><Data>01</Data></InitCmd></InitCmds><Profile><ChannelInfo><ProfileNo>402</ProfileNo><AddInfo>0</AddInfo></ChannelInfo></Profile></CoE></Mailbox><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>288</Ado><Data>1100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65525</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65525</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>288</Ado><Data>1100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65525</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65525</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65525</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>9a000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65525</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65525</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>24090300</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>16</Ado><Data>f403</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set watchdog divider]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1024</Ado><Data>c209</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set PDI watchdog]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1040</Ado><Data>e803</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set SM watchdog]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1056</Ado><Data>1027</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment><Cmd>2</Cmd><Adp>65525</Adp><Ado>2048</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 0 (mailbox out)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set sm 1 (mailbox in)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2048</Ado><Data>00188c0026000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2056</Ado><Data>00198c0022000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>1200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2064</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2064</Ado><Data>0011060064000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>2072</Ado><Data>8011120020000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1536</Ado><Data>a2080001060000070011000201000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1552</Ado><Data>a2080001120000078011000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1012</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>1200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65525</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>1300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1012</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1012</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1011</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[Right Leg Medulla]]></Name><PhysAddr>1013</PhysAddr><AutoIncAddr>65524</AutoIncAddr><Physics>YY</Physics><VendorId>2446</VendorId><ProductCode>34</ProductCode><RevisionNo>1</RevisionNo><SerialNo>0</SerialNo></Info><ProcessData><Recv><BitStart>1880</BitStart><BitLength>128</BitLength></Recv><Sm0><Type>Sm0</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm0><Sm1><Type>Sm1</Type><StartAddress>0</StartAddress><ControlByte>0</ControlByte><Enable>0</Enable></Sm1><Sm2><Type>Outputs</Type><StartAddress>4096</StartAddress><ControlByte>4</ControlByte><Enable>1</Enable></Sm2><Sm3><Type>Inputs</Type><StartAddress>8192</StartAddress><ControlByte>0</ControlByte><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6657</Pdo></Sm3><TxPdo Fixed="1" Sm="3"><Index>#x1a00</Index><Name>Base Inputs</Name><Entry><Index>#x5</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Counter</Name><DataType>USINT</DataType></Entry><Entry><Index>#x6</Index><SubIndex>2</SubIndex><BitLen>16</BitLen><Name>CPU Load</Name><DataType>UINT</DataType></Entry></TxPdo><TxPdo Fixed="1" Sm="3"><Index>#x1a01</Index><Name>Misc Inputs</Name><Entry><Index>#x4</Index><SubIndex>10</SubIndex><BitLen>32</BitLen><Name>Knee Spring Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x4</Index><SubIndex>11</SubIndex><BitLen>32</BitLen><Name>Ankle Joint Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x4</Index><SubIndex>12</SubIndex><BitLen>32</BitLen><Name>Foot Joint Encoder</Name><DataType>DINT</DataType></Entry><Entry><Index>#x1</Index><SubIndex>13</SubIndex><BitLen>1</BitLen><Name>Reed Switch</Name><DataType>BOOL</DataType></Entry><Entry><Index>#x0</Index><BitLen>7</BitLen></Entry></TxPdo></ProcessData><InitCmds><InitCmd><Transition>PI</Transition><Transition>BI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>288</Ado><Data>0100</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>PI</Transition><Transition>SI</Transition><Transition>OI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65524</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>BI</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65524</Adp><Ado>304</Ado><Data>0000</Data><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set device state to INIT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>288</Ado><Data>0100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[check device state for INIT]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65524</Adp><Ado>304</Ado><Data>0000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>0100</Data><DataMask>0f00</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[assign EEPROM to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>1280</Ado><Data>00</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Cmd>2</Cmd><Adp>65524</Adp><Ado>1282</Ado><Data>000108000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check vendor id]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65524</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>8e090000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Cmd>2</Cmd><Adp>65524</Adp><Ado>1282</Ado><Data>00010a000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check product code]]></Comment><Requires>cycle</Requires><Cmd>1</Cmd><Adp>65524</Adp><Ado>1288</Ado><Data>00000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>22000000</Data><Timeout>100</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[set physical address]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>16</Ado><Data>f503</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC cycle time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2464</Ado><Data>20a1070000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC start time]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2448</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2432</Ado><Data>0003</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set DC latch cfg]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2472</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>PP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0200</Data><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear sms]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>2048</Ado><DataLength>32</DataLength><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 0]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>2048</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 1]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>2056</Ado><Data>0000000000000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 2 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>2064</Ado><Data>0010000004000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set sm 3 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>2072</Ado><Data>0020100000000100</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 0 (outputs)]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>1536</Ado><Data>00000000000000000000000200000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set fmmu 1 (inputs)]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>1552</Ado><Data>99000001100000070020000101000000</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0400</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 0]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>1536</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>SI</Transition><Transition>OP</Transition><Transition>OI</Transition><Comment><![CDATA[clear fmmu 1]]></Comment><Cmd>5</Cmd><Adp>1013</Adp><Ado>1552</Ado><Data>00000000000000000000000000000000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[clear DC activation]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>2432</Ado><Data>0000</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>SP</Transition><Transition>OP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>0f0000000000</DataMask><Timeout>5000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>IB</Transition><Comment><![CDATA[assign EEPROM to PDI]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>1280</Ado><Data>01</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>II</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[set device state to PREOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0200</Data><Cnt>1</Cnt><Retries>300</Retries></InitCmd><InitCmd><Transition>IP</Transition><Comment><![CDATA[check device state for PREOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>020000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>IP</Transition><Transition>BI</Transition><Comment><![CDATA[assign EEPROM back to ECAT]]></Comment><Requires>cycle</Requires><Cmd>2</Cmd><Adp>65524</Adp><Ado>1280</Ado><Data>00</Data><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[set device state to BOOT]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0300</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>IB</Transition><Comment><![CDATA[check device state for BOOT]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>030000000000</Data><DataMask>1f0000000000</DataMask><Timeout>3000</Timeout></Validate></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[set device state to SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0400</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>PS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd><InitCmd><Transition>OS</Transition><Comment><![CDATA[check device state for SAFEOP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Retries>3</Retries><Validate><Data>040000000000</Data><DataMask>0f0000000000</DataMask><Timeout>200</Timeout></Validate></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[set device state to OP]]></Comment><Requires>cycle</Requires><Cmd>5</Cmd><Adp>1013</Adp><Ado>288</Ado><Data>0800</Data><Cnt>1</Cnt><Retries>3</Retries></InitCmd><InitCmd><Transition>SO</Transition><Comment><![CDATA[check device state for OP]]></Comment><Requires>cycle</Requires><Cmd>4</Cmd><Adp>1013</Adp><Ado>304</Ado><Data>000000000000</Data><Cnt>1</Cnt><Retries>3</Retries><Validate><Data>080000000000</Data><DataMask>1f0000000000</DataMask><Timeout>10000</Timeout></Validate></InitCmd></InitCmds><PreviousPort Selected="1"><Port>B</Port><PhysAddr>1012</PhysAddr></PreviousPort><DC><PotentialReferenceClock>0</PotentialReferenceClock><ReferenceClock>0</ReferenceClock><CycleTime0>500000</CycleTime0><CycleTime1>0</CycleTime1><ShiftTime>0</ShiftTime></DC></Slave><Cyclic><Comment><![CDATA[synchronized with task 'Task 1']]></Comment><CycleTime>500</CycleTime><Priority>1</Priority><TaskId>1</TaskId><Frame><Cmd><State>PREOP</State><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>0</Cmd><Adp>0</Adp><Ado>2304</Ado><DataLength>4</DataLength><InputOffs>16</InputOffs><OutputOffs>16</OutputOffs></Cmd><Cmd><State>PREOP</State><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>13</Cmd><Adp>0</Adp><Ado>2320</Ado><DataLength>8</DataLength><InputOffs>32</InputOffs><OutputOffs>32</OutputOffs></Cmd><Cmd><State>PREOP</State><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>2</Cmd><Adp>0</Adp><Ado>2320</Ado><DataLength>8</DataLength><InputOffs>52</InputOffs><OutputOffs>52</OutputOffs></Cmd><Cmd><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>12</Cmd><Addr>16777216</Addr><DataLength>169</DataLength><Cnt>5</Cnt><InputOffs>72</InputOffs><OutputOffs>72</OutputOffs></Cmd><Cmd><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>12</Cmd><Addr>16779264</Addr><DataLength>180</DataLength><Cnt>30</Cnt><InputOffs>253</InputOffs><OutputOffs>253</OutputOffs></Cmd><Cmd><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>7</Cmd><Adp>0</Adp><Ado>2348</Ado><DataLength>4</DataLength><InputOffs>445</InputOffs><OutputOffs>445</OutputOffs></Cmd><Cmd><State>PREOP</State><State>SAFEOP</State><State>OP</State><Comment><![CDATA[cyclic cmd]]></Comment><Cmd>7</Cmd><Adp>0</Adp><Ado>304</Ado><DataLength>2</DataLength><Cnt>13</Cnt><InputOffs>461</InputOffs><OutputOffs>461</OutputOffs></Cmd></Frame></Cyclic><ProcessImage><Inputs><ByteSize>1536</ByteSize><Variable><Name>Inputs.DcSysTime</Name><DataType>ARRAY [0..1] OF UDINT</DataType><BitSize>64</BitSize><BitOffs>336</BitOffs></Variable><Variable><Name>Pelvis Medulla.Base Inputs.Counter</Name><DataType>USINT</DataType><BitSize>8</BitSize><BitOffs>656</BitOffs></Variable><Variable><Name>Pelvis Medulla.Base Inputs.CPU Load</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>664</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 01</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>680</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 02</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>696</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 03</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>712</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 04</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>728</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 05</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>744</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 06</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>760</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 07</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>776</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 08</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>792</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 09</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>808</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 10</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>824</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 11</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>840</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 12</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>856</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 13</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>872</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 14</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>888</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 15</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>904</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Channel 16</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>920</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Radio-Receiver Signal Good</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>936</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Inputs.Receiver-Medulla Signal Good</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>937</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Orientation Qx</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>944</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Orientation Qy</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>976</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Orientation Qz</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1008</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Orientation Qw</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1040</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Angular Velocity X</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1072</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Angular Velocity Y</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1104</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Angular Velocity Z</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1136</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Linear Acceleration X</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1168</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Linear Acceleration Y</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1200</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Linear Acceleration Z</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1232</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Magnetic Field X</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1264</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Magnetic Field Y</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1296</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Magnetic Field Z</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1328</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Temperature</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1360</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.Pressure</Name><DataType>REAL</DataType><BitSize>32</BitSize><BitOffs>1392</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.VPE Status</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1424</BitOffs></Variable><Variable><Name>Pelvis Medulla.VN Inputs.VN Data Good</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1440</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 01</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1448</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 02</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1464</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 03</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1480</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 04</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1496</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 05</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1512</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 06</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1528</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 07</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1544</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 08</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1560</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 09</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1576</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 10</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1592</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 11</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1608</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Cell Voltage 12</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1624</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Temperature 1</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1640</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Temperature 2</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1656</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Temperature 3</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1672</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Temperature 4</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1688</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Current</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1704</BitOffs></Variable><Variable><Name>Pelvis Medulla.BMS Inputs.Battery Data Good</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1720</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Inputs.Bleeder State</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1728</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Inputs.Right Reed Switch State</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1729</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Inputs.Left Reed Switch State</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1730</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Inputs.VTM Temperature</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>1736</BitOffs></Variable><Variable><Name>Left Leg Medulla.Base Inputs.Counter</Name><DataType>USINT</DataType><BitSize>8</BitSize><BitOffs>1752</BitOffs></Variable><Variable><Name>Left Leg Medulla.Base Inputs.CPU Load</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1760</BitOffs></Variable><Variable><Name>Left Leg Medulla.Misc Inputs.Knee Spring Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1776</BitOffs></Variable><Variable><Name>Left Leg Medulla.Misc Inputs.Ankle Joint Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1808</BitOffs></Variable><Variable><Name>Left Leg Medulla.Misc Inputs.Foot Joint Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1840</BitOffs></Variable><Variable><Name>Left Leg Medulla.Misc Inputs.Reed Switch</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>1872</BitOffs></Variable><Variable><Name>Right Leg Medulla.Base Inputs.Counter</Name><DataType>USINT</DataType><BitSize>8</BitSize><BitOffs>1880</BitOffs></Variable><Variable><Name>Right Leg Medulla.Base Inputs.CPU Load</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>1888</BitOffs></Variable><Variable><Name>Right Leg Medulla.Misc Inputs.Knee Spring Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1904</BitOffs></Variable><Variable><Name>Right Leg Medulla.Misc Inputs.Ankle Joint Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1936</BitOffs></Variable><Variable><Name>Right Leg Medulla.Misc Inputs.Foot Joint Encoder</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>1968</BitOffs></Variable><Variable><Name>Right Leg Medulla.Misc Inputs.Reed Switch</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>2000</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2104</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2136</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2152</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2168</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2184</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2216</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2248</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2280</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2296</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2312</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2328</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2360</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2392</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2424</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2440</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2456</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2472</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2504</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2536</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2568</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2584</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2600</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2616</BitOffs></Variable><Variable><Name>Left Knee Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2648</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2680</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2712</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2728</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2744</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2760</BitOffs></Variable><Variable><Name>Left Foot Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2792</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2824</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2856</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2872</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2888</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2904</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>2936</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>2968</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3000</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3016</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3032</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3048</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>3080</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3112</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3144</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3160</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3176</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3192</BitOffs></Variable><Variable><Name>Right Foot Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>3224</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3256</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3288</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3304</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3320</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3336</BitOffs></Variable><Variable><Name>Right Knee Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>3368</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.Position actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3400</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.Torque actual value</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3432</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.Status word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3448</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.Mode of operation display</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3464</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.Velocity actual value</Name><DataType>DINT</DataType><BitSize>32</BitSize><BitOffs>3480</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Inputs.DC link circuit voltage</Name><DataType>UDINT</DataType><BitSize>32</BitSize><BitOffs>3512</BitOffs></Variable><Variable><Name>Inputs.Frm0State</Name><Comment><![CDATA[0x0001 = 1. EtherCAT command not sent (NOP requested)
0x0002 = 2. EtherCAT command not sent (NOP requested)
0x0004 = 3. EtherCAT command not sent (NOP requested)
...
0x4000 = 15. EtherCAT command not sent (NOP requested)
0x8000 = complete frame not sent
]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12160</BitOffs></Variable><Variable><Name>Inputs.Frm0WcState</Name><Comment><![CDATA[0x0001 = wrong working counter of 1. EtherCAT command received
0x0002 = wrong working counter of 2. EtherCAT command received
0x0004 = wrong working counter of 3. EtherCAT command received
...
0x4000 = wrong working counter of 15. EtherCAT command received
0x8000 = complete frame missing
]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12176</BitOffs></Variable><Variable><Name>Left Leg Medulla.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12179</BitOffs></Variable><Variable><Name>Pelvis Medulla.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12179</BitOffs></Variable><Variable><Name>Right Leg Medulla.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12179</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Right Knee Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Right Foot Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Left Foot Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Left Knee Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.WcState.WcState</Name><Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>12180</BitOffs></Variable><Variable><Name>Inputs.SlaveCount</Name><Comment><![CDATA[Actual count of EtherCAT slaves received]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12240</BitOffs></Variable><Variable><Name>Inputs.DevState</Name><Comment><![CDATA[0x0001 = Link error
0x0002 = I/O locked after link error (I/O reset required)
0x0004 = Link error (redundancy adapter)
0x0008 = Missing one frame (redundancy mode)
0x0010 = Out of send resources (I/O reset required)
0x0020 = Watchdog triggered
0x0040 = Ethernet driver (miniport) not found
0x0080 = I/O reset active
0x0100 = At least one device in 'INIT' state
0x0200 = At least one device in 'PRE-OP' state
0x0400 = At least one device in 'SAFE-OP' state
0x0800 = At least one device indicates an error state
0x1000 = DC not in sync
]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12272</BitOffs></Variable></Inputs><Outputs><ByteSize>1536</ByteSize><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 01</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>656</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 02</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>672</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 03</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>688</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 04</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>704</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 05</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>720</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 06</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>736</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 07</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>752</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 08</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>768</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 09</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>784</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 10</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>800</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 11</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>816</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 12</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>832</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 13</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>848</BitOffs></Variable><Variable><Name>Pelvis Medulla.Radio Outputs.Channel 14</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>864</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Outputs.Medulla STO</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>880</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Outputs.Piezo State</Name><DataType>BOOL</DataType><BitSize>1</BitSize><BitOffs>881</BitOffs></Variable><Variable><Name>Pelvis Medulla.Misc Outputs.Piezo Tone</Name><DataType>USINT</DataType><BitSize>8</BitSize><BitOffs>888</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2104</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2120</BitOffs></Variable><Variable><Name>Left Hip Roll Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2136</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2248</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2264</BitOffs></Variable><Variable><Name>Left Hip Yaw Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2280</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2392</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2408</BitOffs></Variable><Variable><Name>Left Hip Pitch Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2424</BitOffs></Variable><Variable><Name>Left Knee Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2536</BitOffs></Variable><Variable><Name>Left Knee Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2552</BitOffs></Variable><Variable><Name>Left Knee Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2568</BitOffs></Variable><Variable><Name>Left Foot Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2680</BitOffs></Variable><Variable><Name>Left Foot Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2696</BitOffs></Variable><Variable><Name>Left Foot Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2712</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2824</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2840</BitOffs></Variable><Variable><Name>Right Hip Roll Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>2856</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>2968</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>2984</BitOffs></Variable><Variable><Name>Right Hip Yaw Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3000</BitOffs></Variable><Variable><Name>Right Foot Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3112</BitOffs></Variable><Variable><Name>Right Foot Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3128</BitOffs></Variable><Variable><Name>Right Foot Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3144</BitOffs></Variable><Variable><Name>Right Knee Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3256</BitOffs></Variable><Variable><Name>Right Knee Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3272</BitOffs></Variable><Variable><Name>Right Knee Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3288</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Outputs.Target Torque</Name><DataType>INT</DataType><BitSize>16</BitSize><BitOffs>3400</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Outputs.Control word</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>3416</BitOffs></Variable><Variable><Name>Right Hip Pitch Drive.Outputs.Mode of operation</Name><DataType>SINT</DataType><BitSize>8</BitSize><BitOffs>3432</BitOffs></Variable><Variable><Name>Outputs.Frm0Ctrl</Name><Comment><![CDATA[0x0001 = prevent 1. EtherCAT command from sending (request NOP)
0x0002 = prevent 2. EtherCAT command from sending (request NOP)
0x0004 = prevent 3. EtherCAT command from sending (request NOP)
...
0x4000 = prevent 15. EtherCAT command from sending (request NOP)
0x8000 = prevent complete frame from sending
]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12160</BitOffs></Variable><Variable><Name>Outputs.Frm0WcCtrl</Name><Comment><![CDATA[0x0001 = copy data with wrong working counter of 1. EtherCAT command
0x0002 = copy data with wrong working counter of 2. EtherCAT command
0x0004 = copy data with wrong working counter of 3. EtherCAT command
...
0x4000 = copy data with wrong working counter of 15. EtherCAT command
]]></Comment><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12176</BitOffs></Variable><Variable><Name>Outputs.DevCtrl</Name><DataType>UINT</DataType><BitSize>16</BitSize><BitOffs>12272</BitOffs></Variable></Outputs></ProcessImage></Config></EtherCATConfig>