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]]>
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					<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')

Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
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				<Name>GearRatio1</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>576</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio2</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>640</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio3</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>704</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio4</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>768</BitOffs>
			</SubItem>
			<SubItem>
				<Name>MapState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
				<BitSize>8</BitSize>
				<BitOffs>832</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PlcCycleControl</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
				<BitSize>8</BitSize>
				<BitOffs>840</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PlcCycleCount</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
				<BitSize>8</BitSize>
				<BitOffs>848</BitOffs>
			</SubItem>
			<Properties>
				<Property>
					<Name>NcStructType</Name>
					<Value>1</Value>
				</Property>
			</Properties>
			<Relations>
				<Relation Priority="100">
					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
				</Relation>
			</Relations>
		</DataType>
		<DataType>
			<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>Operational</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Homed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NotMoving</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>InPositionArea</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>3</BitOffs>
			</SubItem>
			<SubItem>
				<Name>InTargetPosition</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>4</BitOffs>
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			<SubItem>
				<Name>Protected</Name>
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				<BitSize>1</BitSize>
				<BitOffs>5</BitOffs>
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			<SubItem>
				<Name>ErrorPropagationDelayed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
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			<SubItem>
				<Name>HasBeenStopped</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
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			<SubItem>
				<Name>HasJob</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
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			<SubItem>
				<Name>PositiveDirection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>9</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NegativeDirection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>10</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HomingBusy</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>11</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ConstantVelocity</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>12</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Compensating</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>13</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetPointGenEnabled</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>14</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PhasingActive</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>15</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExternalLatchValid</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>16</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NewTargetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>17</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ContinuousMotion</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>19</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ControlLoopClosed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>20</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamTableQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>21</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDataQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>22</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamScalingPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>23</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdBuffered</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>24</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PTPmode</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>25</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SoftLimitMinExceeded</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>26</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SoftLimitMaxExceeded</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>27</BitOffs>
			</SubItem>
			<SubItem>
				<Name>DriveDeviceError</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>28</BitOffs>
			</SubItem>
			<SubItem>
				<Name>MotionCommandsLocked</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>29</BitOffs>
			</SubItem>
			<SubItem>
				<Name>IoDataInvalid</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>30</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Error</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>31</BitOffs>
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			<Format>
				<Printf>0x%08x</Printf>
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		<DataType>
			<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>OpModePosAreaMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeTargetPosMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeLoop</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeMotionMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>3</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePEHTimeMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>4</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeBacklashCompensation</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>5</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeDelayedErrorReaction</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeModulo</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSimulationAxis</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePosLagMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>16</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeVeloLagMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>17</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSoftLimitMinMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>18</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSoftLimitMaxMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>19</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePosCorrection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>20</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeAllowSlaveCommands</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>21</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeAllowExtSetAxisCommands</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>22</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ApplicationRequest</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>23</BitOffs>
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		<DataType>
			<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>AvoidingCollision</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
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			<Format>
				<Printf>0x%08x</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>Value</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Flags</Name>
				<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
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			<Format>
				<Printf>0x%08x</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{18071995-0000-0000-0000-00000000003C}" TcBaseType="true" HideType="true">USINTARR8</Name>
			<BitSize>64</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000002}">USINT</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>8</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
			<BitSize>2048</BitSize>
			<SubItem>
				<Name>StateDWord</Name>
				<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ErrorCode</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>32</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>64</BitOffs>
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			<SubItem>
				<Name>AxisModeConfirmation</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
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				<BitOffs>96</BitOffs>
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			<SubItem>
				<Name>HomingState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>128</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CoupleState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>160</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SvbEntries</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>192</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SafEntries</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>224</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisId</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>256</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeDWord</Name>
				<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
				<BitSize>32</BitSize>
				<BitOffs>288</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>320</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloActPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>384</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActiveControlLoopIndex</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>448</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ControlLoopIndex</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>464</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloActTurns</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>480</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActVelo</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>512</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PosDiff</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>576</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>640</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetVelo</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>704</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetAcc</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>768</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TargetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>832</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloSetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>896</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloSetTurns</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>960</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdNo</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>992</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>1008</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetJerk</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1024</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetTorque</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1088</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActTorque</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1152</BitOffs>
			</SubItem>
			<SubItem>
				<Name>StateDWord2</Name>
				<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
				<BitSize>32</BitSize>
				<BitOffs>1216</BitOffs>
			</SubItem>
			<SubItem>
				<Name>StateDWord3</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1248</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TouchProbeState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1280</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TouchProbeCounter</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1312</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamCouplingState</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000003C}">USINTARR8</Type>
				<BitSize>64</BitSize>
				<BitOffs>1344</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamCouplingTableID</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000003C}">USINTARR8</Type>
				<BitSize>64</BitSize>
				<BitOffs>1408</BitOffs>
			</SubItem>
			<SubItem>
				<Name>DcTimeStamp</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>1472</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActTorqueDerivative</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1536</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetTorqueDerivative</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1600</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActPosWithoutPosCorrection</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1792</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActAcc</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1856</BitOffs>
			</SubItem>
			<Properties>
				<Property>
					<Name>NcStructType</Name>
					<Value>2</Value>
				</Property>
			</Properties>
			<Relations>
				<Relation Priority="100">
					<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{E8DA524A-605F-4879-82E6-B86EF6986572}">NCAXLESTRUCT_TOPLC2</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{B507963E-69F3-4B64-BB8C-2BD7A560976D}">NCAXLESTRUCT_TOPLC3</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"/>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"/>
				</Relation>
			</Relations>
		</DataType>
	</DataTypes>
	<ImageDatas>
		<ImageData Id="1000"> </ImageData>
		<ImageData Id="1001"> </ImageData>
		<ImageData Id="1002"> </ImageData>
		<ImageData Id="1003"> </ImageData>
	</ImageDatas>
	<Project ProjectGUID="{CD33156C-68F6-4FAD-8C33-C5105FA2192E}" TargetNetId="5.34.114.232.1.1">
		<System>
			<Tasks>
				<Task Id="4" Priority="20" CycleTime="100000" AmsPort="350">
					<Name>PlcTask</Name>
				</Task>
			</Tasks>
		</System>
		<Motion>
			<NC>
				<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
					<Name>NC-Task 1 SAF</Name>
					<Vars VarGrpType="1" InsertType="1">
						<Name>Inputs</Name>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
					</Vars>
					<Image Id="1" AddrType="1" ImageType="1">
						<Name>Image</Name>
					</Image>
				</SafTask>
				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
					<Name>NC-Task 1 SVB</Name>
				</SvbTask>
				<Axis CreateSymbols="true" AxisType="1" Id="1">
					<Name>Axis 1</Name>
					<AxisPara>
						<General UnitName="°"/>
						<Dynamic Acceleration="701.1" Deceleration="701.1" Jerk="2103.3"/>
						<Velo RefSearch="4.674" RefSync="4.674" SlowManual="23.37" FastManual="140.22" Fast="467.4" Maximum="467.4"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="18" ScaleFactorDenominator="1048576" MaxCount="#xffffffff"/>
						<Vars VarGrpType="1">
							<Name>Inputs</Name>
							<Var>
								<Name>In</Name>
								<Type GUID="{3B4978B1-9ADE-48F4-B2A7-1323BC4A0651}" Namespace="MC">NCENCODERSTRUCT_IN2</Type>
								<BitOffs>1024</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn2</Name>
								</SubVar>
								<SubVar>
									<Name>nState4</Name>
									<Comment>
										<![CDATA[Encoder Status 4 (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]>
									</Comment>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn6</Name>
								</SubVar>
							</Var>
						</Vars>
						<Vars VarGrpType="2">
							<Name>Outputs</Name>
							<Var>
								<Name>Out</Name>
								<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
								<BitOffs>2048</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut2</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut6</Name>
								</SubVar>
							</Var>
						</Vars>
					</Encoder>
					<Drive Name="Drive" DrvType="16">
						<DrvPara MaxCount="#xffffffff">
							<Analog VeloReferenz="514.14" VeloScale="32"/>
							<TimeComp TaskDelayCycles="1"/>
						</DrvPara>
						<Vars VarGrpType="1">
							<Name>Inputs</Name>
							<Var>
								<Name>In</Name>
								<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
								<BitOffs>1344</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn2</Name>
								</SubVar>
								<SubVar>
									<Name>nState4</Name>
									<Comment>
										<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')

Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
									</Comment>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn6</Name>
								</SubVar>
							</Var>
						</Vars>
						<Vars VarGrpType="2">
							<Name>Outputs</Name>
							<Var>
								<Name>Out</Name>
								<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
								<BitOffs>2368</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut2</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut6</Name>
								</SubVar>
							</Var>
						</Vars>
					</Drive>
					<Controller Name="Ctrl" CtrType="1">
						<CtrPara PriorControlFactor="1">
							<Observer BandWidth="20"/>
						</CtrPara>
					</Controller>
					<Vars VarGrpType="1" InsertType="1">
						<Name>Inputs</Name>
						<Var>
							<Name>FromPlc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<SubVar>
								<Name>AxisState</Name>
								<Comment>
									<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>HomingState</Name>
								<Comment>
									<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>CoupleState</Name>
								<Comment>
									<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
								</Comment>
							</SubVar>
						</Var>
					</Vars>
				</Axis>
			</NC>
		</Motion>
		<Plc>
			<Project GUID="{B048A190-7B3A-4FC4-8855-D1E88ABA4F0C}" Name="Untitled1" PrjFilePath="Untitled1\Untitled1.plcproj" TmcFilePath="Untitled1\Untitled1.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e">
				<Instance Id="#x01010010" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
					<Name>Untitled1 Instance</Name>
					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
					<Vars VarGrpType="1">
						<Name>PlcTask Inputs</Name>
						<Var>
							<Name>MAIN.servo.NcToPlc</Name>
							<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<SubVar>
								<Name>AxisState</Name>
								<Comment>
									<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>HomingState</Name>
								<Comment>
									<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>CoupleState</Name>
								<Comment>
									<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
								</Comment>
							</SubVar>
						</Var>
					</Vars>
					<Vars VarGrpType="2">
						<Name>PlcTask Outputs</Name>
						<Var>
							<Name>MAIN.servo.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
					</Vars>
					<TaskPouOids>
						<TaskPouOid Prio="20" OTCID="#x01010011"/>
					</TaskPouOids>
				</Instance>
			</Project>
		</Plc>
		<Io>
			<Device DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="5.34.114.232.2.1" RemoteName="Device 1 (EtherCAT)" Id="1">
				<Name>Device 1 (EtherCAT)</Name>
				<AddressInfo>
					<Ccat>
						<Address>-801112064</Address>
						<Offset>131072</Offset>
						<Size>8192</Size>
						<BaseAddr>0</BaseAddr>
						<BusNo>3</BusNo>
						<SlotNo>0</SlotNo>
						<VendorId>5612</VendorId>
						<DeviceId>20480</DeviceId>
						<Dma>
							<Address>0</Address>
							<Offset>4096</Offset>
							<Size>256</Size>
							<BaseAddr>2</BaseAddr>
							<RxChn>0</RxChn>
							<TxChn>1</TxChn>
						</Dma>
						<Identification>
							<Value>498694182</Value>
							<Version>1</Version>
							<Size>256</Size>
						</Identification>
					</Ccat>
				</AddressInfo>
				<Image Id="2" AddrType="9" ImageType="3">
					<Name>Image</Name>
				</Image>
				<Box BoxType="9099" Id="1">
					<Name>Term 1 (EK1200)</Name>
					<ImageId>1000</ImageId>
					<EtherCAT PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04b02c52" RevisionNo="#x00001388" InfoDataState="false" PortPhys="49" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1200-5000 EtherCAT Power supply (2A E-Bus)" Desc="EK1200" PortABoxInfo="#x00ffffff"/>
					<Box BoxType="9099" Id="2">
						<Name>Term 2 (EL1904)</Name>
						<ImageId>118</ImageId>
						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x07703052" RevisionNo="#x00120000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="1" Type="EL1904, 4 Ch. Safety Input 24V, TwinSAFE" Desc="EL1904" PortABoxInfo="#x01000001">
							<SyncMan>001000012600010001000000400000010001001026010000</SyncMan>
							<SyncMan>001100012200010002000000400000010001001122010000</SyncMan>
							<SyncMan>001206002400010003000000000000000600001224010000</SyncMan>
							<SyncMan>001906002000010004000000000000000600001920010000</SyncMan>
							<Fmmu>0000000000000000001200020100000001000000000000000000000000000000</Fmmu>
							<Fmmu>0000000000000000001900010100000002000000000000000000000000000000</Fmmu>
							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
							<BootStrapData>0010f400f410f400</BootStrapData>
							<Pdo Name="TxPDO" Index="#x1a00" Flags="#x0090" SyncMan="3">
								<Entry Name="FSOE__FSoE Slave CMD" Index="#x6000" Sub="#x01">
									<Type>USINT</Type>
								</Entry>
								<Entry Name="FSOE__InputChannel1" Index="#x6001" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__InputChannel2" Index="#x6001" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__InputChannel3" Index="#x6001" Sub="#x03">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__InputChannel4" Index="#x6001" Sub="#x04">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__">
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Slave CRC_0" Index="#x6000" Sub="#x03">
									<Type>UINT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Slave ConnID" Index="#x6000" Sub="#x02">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="RxPDO" Index="#x1600" InOut="1" Flags="#x0090" SyncMan="2">
								<Entry Name="FSOE__FSoE Master CMD" Index="#x7000" Sub="#x01">
									<Type>USINT</Type>
								</Entry>
								<Entry Name="FSOE__">
									<Type>ARRAY [0..0] OF BYTE</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Master CRC_0" Index="#x7000" Sub="#x03">
									<Type>UINT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Master ConnID" Index="#x7000" Sub="#x02">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<CoeProfile ProfileNo="5001"/>
							<Slot Name="">
								<SlotData>0000010001000400000000000000000000000000000000000000000000000000</SlotData>
								<ModuleIdent>190</ModuleIdent>
								<Module Id="#x03090001" Type="FSOES" Class="190">
									<Name>Module 1 (FSOES)</Name>
									<ImageId>118</ImageId>
									<ModuleData>02000000be00000000000c000000000000000000000000000000000000000000</ModuleData>
									<PdoIndex>6656</PdoIndex>
									<PdoIndex>5632</PdoIndex>
									<CoeProfile ProfileNo="#x00001389"/>
								</Module>
							</Slot>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="3">
						<Name>Term 3 (EL2904)</Name>
						<ImageId>118</ImageId>
						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="3" FoeType="1" VendorId="#x00000002" ProductCode="#x0b583052" RevisionNo="#x00120000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="2" Type="EL2904, 4 Ch. Safety Output 24V, 0.5A, TwinSAFE" Desc="EL2904" PortABoxInfo="#x01000002">
							<SyncMan>001000012600010001000000400000010001001026010000</SyncMan>
							<SyncMan>001100012200010002000000400000010001001122010000</SyncMan>
							<SyncMan>001208002400010003000000000000000800001224010000</SyncMan>
							<SyncMan>001906002000010004000000000000000600001920010000</SyncMan>
							<Fmmu>0000000000000000001200020100000001000000000000000000000000000000</Fmmu>
							<Fmmu>0000000000000000001900010100000002000000000000000000000000000000</Fmmu>
							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
							<BootStrapData>0018f400f418f400</BootStrapData>
							<Pdo Name="TxPDO" Index="#x1a00" Flags="#x0090" SyncMan="3">
								<Entry Name="FSOE__FSoE Slave CMD" Index="#x6000" Sub="#x01">
									<Type>USINT</Type>
								</Entry>
								<Entry Name="FSOE__">
									<Type>ARRAY [0..0] OF BYTE</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Slave CRC_0" Index="#x6000" Sub="#x03">
									<Type>UINT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Slave ConnID" Index="#x6000" Sub="#x02">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="RxPDO" Index="#x1600" InOut="1" Flags="#x0090" SyncMan="2">
								<Entry Name="FSOE__FSoE Master CMD" Index="#x7000" Sub="#x01">
									<Type>USINT</Type>
								</Entry>
								<Entry Name="FSOE__OutputChannel1" Index="#x7001" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__OutputChannel2" Index="#x7001" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__OutputChannel3" Index="#x7001" Sub="#x03">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__OutputChannel4" Index="#x7001" Sub="#x04">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="FSOE__">
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Master CRC_0" Index="#x7000" Sub="#x03">
									<Type>UINT</Type>
								</Entry>
								<Entry Name="FSOE__FSoE Master ConnID" Index="#x7000" Sub="#x02">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="RxPDO" Index="#x1601" InOut="1" Flags="#x0090" SyncMan="2">
								<Entry Name="Output Channel 1" Index="#x7010" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Output Channel 2" Index="#x7010" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Output Channel 3" Index="#x7010" Sub="#x03">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Output Channel 4" Index="#x7010" Sub="#x04">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..11] OF BIT</Type>
								</Entry>
							</Pdo>
							<CoeProfile ProfileNo="5001"/>
							<CoeProfile ProfileNo="13112201"/>
							<Slot Name="">
								<SlotData>0000010001000400000000000000000000000000000000000000000000000000</SlotData>
								<ModuleIdent>290</ModuleIdent>
								<Module Id="#x03090002" Type="FSOES" Class="290">
									<Name>Module 1 (FSOES)</Name>
									<ImageId>118</ImageId>
									<ModuleData>020000002201000000000c000000000000000000000000000000000000000000</ModuleData>
									<PdoIndex>6656</PdoIndex>
									<PdoIndex>5632</PdoIndex>
									<CoeProfile ProfileNo="#x00001389"/>
								</Module>
							</Slot>
							<Slot Name="">
								<SlotData>0000010001000400000000000000000000000000000000000000000000000000</SlotData>
								<ModuleIdent>200</ModuleIdent>
								<Module Id="#x03090003" Type="DO" Class="200">
									<Name>Module 2 (DO)</Name>
									<ImageId>118</ImageId>
									<ModuleData>02000000c8000000000004000000000000000000000000000000000000000000</ModuleData>
									<PdoIndex>5633</PdoIndex>
								</Module>
							</Slot>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="4">
						<Name>Term 4 (EL6900)</Name>
						<ImageId>118</ImageId>
						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="3" FoeType="1" VendorId="#x00000002" ProductCode="#x1af43052" RevisionNo="#x00120000" InfoDataAddr="true" TimeoutMailbox2="2000" TComSupport="true" CheckRevisionNoType="3" PortPhys="51" SafetyLogicSupported="true" MaxSlotCount="3" Type="EL6900, TwinSAFE PLC" Desc="EL6900" PortABoxInfo="#x01000003">
							<SyncMan>001000012600010001000000000100010001001026010000</SyncMan>
							<SyncMan>001100012200010002000000000100010001001122010000</SyncMan>
							<SyncMan>001202002400010003000000000000000200001224010000</SyncMan>
							<SyncMan>001d02002000010004000000000000000200001d20010000</SyncMan>
							<Fmmu>0000000000000000001200020100000001000000000000000000000000000000</Fmmu>
							<Fmmu>0000000000000000001d00010100000002000000000000000000000000000000</Fmmu>
							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
							<BootStrapData>0010f400f410f400</BootStrapData>
							<Pdo Name="DEVICE Inputs" Index="#x1bff" Flags="#x0011" SyncMan="3">
								<Entry Name="Safety Project State" Index="#xf100" Sub="#x01">
									<Type>BIT3</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="Login Active" Index="#xf100" Sub="#x08">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Input Size Mismatch" Index="#xf100" Sub="#x09">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Output Size Mismatch" Index="#xf100" Sub="#x0a">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="TxPDO State" Index="#xf100" Sub="#x0f">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="TxPDO Toggle" Index="#xf100" Sub="#x10">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DEVICE Outputs" Index="#x17ff" InOut="1" Flags="#x0011" SyncMan="2">
								<Entry Name="Control" Index="#xf200" Sub="#x01">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<CoeProfile ProfileNo="452203401"/>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="5">
						<Name>Term 5 (EL1008)</Name>
						<ImageId>7</ImageId>
						<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x03f03052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1008 8Ch. Dig. Input 24V, 3ms" Desc="EL1008" PortABoxInfo="#x01000004">
							<SyncMan>001001000000010004000000000000000100001000010000</SyncMan>
							<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
							<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6000" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6010" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6020" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6030" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6040" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6050" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6060" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
								<Entry Name="Input" Index="#x6070" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="6">
						<Name>Term 6 (EL9576)</Name>
						<ImageId>1001</ImageId>
						<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="3" FoeType="1" VendorId="#x00000002" ProductCode="#x25683052" RevisionNo="#x00110000" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9576 Brake chopper terminal" Desc="EL9576" PortABoxInfo="#x01000005">
							<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
							<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
							<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
							<SyncMan>80110b002000010004000000000000000b00801120010000</SyncMan>
							<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
							<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
							<BootStrapData>0010f400f410f400</BootStrapData>
							<Pdo Name="BCT Inputs" Index="#x1a00" Flags="#x0011" SyncMan="3">
								<Entry Name="Terminal Overtemperature" Index="#x6000" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="I2T error" Index="#x6000" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="I2T warning" Index="#x6000" Sub="#x03">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Overvoltage" Index="#x6000" Sub="#x04">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Undervoltage" Index="#x6000" Sub="#x05">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Chopper on" Index="#x6000" Sub="#x06">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..0] OF BYTE</Type>
								</Entry>
								<Entry Name="Input cycle counter" Index="#x6000" Sub="#x0f">
									<Type>BIT2</Type>
								</Entry>
								<Entry Name="DC link voltage" Index="#x6000" Sub="#x11">
									<Type>UDINT</Type>
								</Entry>
								<Entry Name="Resistor current" Index="#x6000" Sub="#x13">
									<Type>DINT</Type>
								</Entry>
								<Entry Name="Duty cylce" Index="#x6000" Sub="#x14">
									<Type>USINT</Type>
								</Entry>
							</Pdo>
							<CoeProfile ProfileNo="58987401"/>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="7">
						<Name>Term 7 (EL7211-0010)</Name>
						<ImageId>1002</ImageId>
						<Xml>
							<EL72xxDriveTool>
								<AxisSettings>
									<AxisSetting Channel="0">
										<Property>
											<Name>MotorType</Name>
											<Value>AM8113-0F20-0000</Value>
										</Property>
										<Property>
											<Name>MotorDataSchema</Name>
											<Value>ScannedDataSheet</Value>
										</Property>
										<Property>
											<Name>Feedback1Type</Name>
											<Value>EKM36-0JF0A0S04</Value>
										</Property>
										<Parametersets>
											<Parameter>
												<Comment>Motor vendor</Comment>
												<Name>Vendor</Name>
												<Data type="visibleString">0.000000</Data>
											</Parameter>
											<Parameter>
												<Comment>Electric motor type</Comment>
												<Name>ElecType</Name>
												<Data type="visibleString">0.000000</Data>
											</Parameter>
											<Parameter>
												<Comment>Motor Serial number</Comment>
												<Name>Serial#</Name>
												<Data type="visibleString">0.000000</Data>
											</Parameter>
											<Parameter>
												<Comment>Motor oder code</Comment>
												<Name>OrderCode</Name>
												<Data type="visibleString">0.000000</Data>
											</Parameter>
											<Parameter>
												<Comment>Motor construction</Comment>
												<Name>ConstrType</Name>
												<Data type="uint8">0</Data>
											</Parameter>
											<Parameter>
												<Comment>Pole Pairs</Comment>
												<Name>PolePairs</Name>
												<Data type="uint8">3</Data>
											</Parameter>
											<Parameter>
												<Comment>Standstill Current</Comment>
												<Name>I0rms</Name>
												<Data type="uint16">4.80</Data>
											</Parameter>
											<Parameter>
												<Comment>Rated Current</Comment>
												<Name>Inrms</Name>
												<Data type="uint16">4.65</Data>
											</Parameter>
											<Parameter>
												<Comment>Peak Current</Comment>
												<Name>Iprms</Name>
												<Data type="uint16">18.0</Data>
											</Parameter>
											<Parameter>
												<Comment>Nominal Voltage</Comment>
												<Name>Unrms</Name>
												<Data type="uint16">33.9</Data>
											</Parameter>
											<Parameter>
												<Comment>Max Voltage</Comment>
												<Name>Umaxrms</Name>
												<Data type="uint16">96.0</Data>
											</Parameter>
											<Parameter>
												<Comment>Max winding du/dt</Comment>
												<Name>dudtMax</Name>
												<Data type="uint16">8000000000</Data>
											</Parameter>
											<Parameter>
												<Comment>Max Torque</Comment>
												<Name>Mpeak</Name>
												<Data type="uint16">2.05</Data>
											</Parameter>
											<Parameter>
												<Comment>Torque Constant</Comment>
												<Name>kT</Name>
												<Data type="uint16">0.108</Data>
											</Parameter>
											<Parameter>
												<Comment>M(i) curve</Comment>
												<Name>M(i)</Name>
												<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
													<item>1.79</item>
													<item>3.59</item>
													<item>5.40</item>
													<item>7.19</item>
													<item>9.00</item>
													<item>10.80</item>
													<item>12.60</item>
													<item>14.39</item>
													<item>16.20</item>
													<item>18.00</item>
												</DataTable>
												<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
													<item>0.235</item>
													<item>0.464</item>
													<item>0.686</item>
													<item>0.902</item>
													<item>1.110</item>
													<item>1.311</item>
													<item>1.506</item>
													<item>1.693</item>
													<item>1.874</item>
													<item>2.050</item>
												</DataTable>
											</Parameter>
											<Parameter>
												<Comment>EMK</Comment>
												<Name>kErms</Name>
												<Data type="uint16">0.00740</Data>
											</Parameter>
											<Parameter>
												<Comment>Winding resistance Ph-Ph 20°C</Comment>
												<Name>R</Name>
												<Data type="uint16">1.38</Data>
											</Parameter>
											<Parameter>
												<Comment>Ld Ph-Ph</Comment>
												<Name>Ld</Name>
												<Data type="uint16">0.000970</Data>
											</Parameter>
											<Parameter>
												<Comment>Lq Ph-Ph</Comment>
												<Name>Lq</Name>
												<Data type="uint16">0.000970</Data>
											</Parameter>
											<Parameter>
												<Comment>Lq(i) curve</Comment>
												<Name>Lq(i)</Name>
												<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
													<item>1.79</item>
													<item>3.59</item>
													<item>5.40</item>
													<item>7.19</item>
													<item>9.00</item>
													<item>10.80</item>
													<item>12.60</item>
													<item>14.39</item>
													<item>16.20</item>
													<item>18.00</item>
												</DataTable>
												<DataTable type="uint16[]" unitPrefix="-6" unitSiNumerator="H">
													<item>0.000715</item>
													<item>0.000683</item>
													<item>0.000676</item>
													<item>0.000669</item>
													<item>0.000669</item>
													<item>0.000669</item>
													<item>0.000669</item>
													<item>0.000669</item>
													<item>0.000669</item>
													<item>0.000669</item>
												</DataTable>
											</Parameter>
											<Parameter>
												<Comment>Max speed</Comment>
												<Name>Nmax</Name>
												<Data type="uint16">10000</Data>
											</Parameter>
											<Parameter>
												<Comment>J motor with brake and encoder</Comment>
												<Name>J</Name>
												<Data type="uint16">0.00000715</Data>
											</Parameter>
											<Parameter>
												<Comment>T motor warn limit</Comment>
												<Name>TMotorWarn</Name>
												<Data type="uint16">120</Data>
											</Parameter>
											<Parameter>
												<Comment>T motor shut down</Comment>
												<Name>TMotorLimit</Name>
												<Data type="uint16">130</Data>
											</Parameter>
											<Parameter>
												<Comment>Time constant i2t</Comment>
												<Name>Ti2t</Name>
												<Data type="uint16">57.0</Data>
											</Parameter>
											<Parameter>
												<Comment>Motor thermal constant</Comment>
												<Name>Mtc</Name>
												<Data type="uint16">10.0</Data>
											</Parameter>
											<Parameter>
												<Name>MechComOffs</Name>
												<Data type="uint16">0.00</Data>
											</Parameter>
										</Parametersets>
									</AxisSetting>
								</AxisSettings>
								<InitCmds>
									<InitCmd Index="7186" SubIndex="0" MotorDataLevel="0" DisableMode="0">
										<Data>02</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>0016</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>0116</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="3" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="4" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="5" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="6" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="7" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7186" SubIndex="8" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
										<Data>02</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>001a</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>011a</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="5" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="6" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="7" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="8" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="9" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="10" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="11" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7187" SubIndex="12" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7218" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7218" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>90d00300</Data>
									</InitCmd>
									<InitCmd Index="7218" SubIndex="8" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7219" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="7219" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>90d00300</Data>
									</InitCmd>
									<InitCmd Index="7219" SubIndex="8" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="28688" SubIndex="3" MotorDataLevel="0" DisableMode="0">
										<Data>09</Data>
									</InitCmd>
									<InitCmd Index="28688" SubIndex="11" MotorDataLevel="0" DisableMode="0">
										<Data>ff7f</Data>
									</InitCmd>
									<InitCmd Index="32768" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32768" SubIndex="17" MotorDataLevel="0" DisableMode="0">
										<Data>03000000</Data>
									</InitCmd>
									<InitCmd Index="32768" SubIndex="18" MotorDataLevel="0" DisableMode="0">
										<Data>14</Data>
									</InitCmd>
									<InitCmd Index="32768" SubIndex="19" MotorDataLevel="0" DisableMode="0">
										<Data>0c</Data>
									</InitCmd>
									<InitCmd Index="32776" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32776" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32776" SubIndex="3" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="17" MotorDataLevel="0" DisableMode="0">
										<Data>01000000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
										<Data>0500</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="19" MotorDataLevel="1" DisableMode="0">
										<Data>7300</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="20" MotorDataLevel="1" DisableMode="0">
										<Data>96000000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
										<Data>3b000000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
										<Data>0a000000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
										<Data>c05d0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="26" MotorDataLevel="0" DisableMode="0">
										<Data>901a0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="27" MotorDataLevel="0" DisableMode="0">
										<Data>60ea0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="41" MotorDataLevel="0" DisableMode="0">
										<Data>50</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="42" MotorDataLevel="0" DisableMode="0">
										<Data>69</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="43" MotorDataLevel="0" DisableMode="0">
										<Data>2003</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="44" MotorDataLevel="0" DisableMode="0">
										<Data>e803</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="49" MotorDataLevel="0" DisableMode="0">
										<Data>00000400</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="50" MotorDataLevel="0" DisableMode="0">
										<Data>e803</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="51" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="57" MotorDataLevel="0" DisableMode="0">
										<Data>01</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="58" MotorDataLevel="0" DisableMode="0">
										<Data>01</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="65" MotorDataLevel="0" DisableMode="0">
										<Data>4001</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="73" MotorDataLevel="0" DisableMode="0">
										<Data>70f50000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="80" MotorDataLevel="0" DisableMode="0">
										<Data>ffffffff</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="81" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="82" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32784" SubIndex="84" MotorDataLevel="0" DisableMode="0">
										<Data>00000000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
										<Data>50460000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="18" MotorDataLevel="1" DisableMode="0">
										<Data>2a120000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="19" MotorDataLevel="1" DisableMode="0">
										<Data>03</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="21" MotorDataLevel="1" DisableMode="0">
										<Data>0e01</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="22" MotorDataLevel="1" DisableMode="0">
										<Data>6c000000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="24" MotorDataLevel="1" DisableMode="0">
										<Data>47000000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="25" MotorDataLevel="1" DisableMode="0">
										<Data>0a00</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
										<Data>16060000</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="41" MotorDataLevel="0" DisableMode="0">
										<Data>50</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="42" MotorDataLevel="0" DisableMode="0">
										<Data>69</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="43" MotorDataLevel="0" DisableMode="0">
										<Data>e803</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="44" MotorDataLevel="0" DisableMode="0">
										<Data>dc05</Data>
									</InitCmd>
									<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
										<Data>3a02</Data>
									</InitCmd>
									<InitCmd Index="32786" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>00</Data>
									</InitCmd>
									<InitCmd Index="32786" SubIndex="17" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32786" SubIndex="18" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32786" SubIndex="19" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32786" SubIndex="20" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="32799" SubIndex="17" MotorDataLevel="0" DisableMode="0">
										<Data>401f0000</Data>
									</InitCmd>
									<InitCmd Index="32799" SubIndex="18" MotorDataLevel="0" DisableMode="0">
										<Data>a00f0000</Data>
									</InitCmd>
									<InitCmd Index="32799" SubIndex="19" MotorDataLevel="0" DisableMode="0">
										<Data>2300</Data>
									</InitCmd>
									<InitCmd Index="32799" SubIndex="20" MotorDataLevel="0" DisableMode="0">
										<Data>e02e0000</Data>
									</InitCmd>
									<InitCmd Index="45057" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>0700</Data>
									</InitCmd>
									<InitCmd Index="45057" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="45057" SubIndex="3" MotorDataLevel="0" DisableMode="0">
										<Data>00000000</Data>
									</InitCmd>
									<InitCmd Index="45057" SubIndex="4" MotorDataLevel="0" DisableMode="0">
										<Data>00000000</Data>
									</InitCmd>
									<InitCmd Index="45057" SubIndex="5" MotorDataLevel="0" DisableMode="0">
										<Data>0000</Data>
									</InitCmd>
									<InitCmd Index="61448" SubIndex="0" MotorDataLevel="0" DisableMode="0">
										<Data>00000000</Data>
									</InitCmd>
									<InitCmd Index="61456" SubIndex="0" MotorDataLevel="0" DisableMode="0">
										<Data>02</Data>
									</InitCmd>
									<InitCmd Index="61456" SubIndex="1" MotorDataLevel="0" DisableMode="0">
										<Data>01020000</Data>
									</InitCmd>
									<InitCmd Index="61456" SubIndex="2" MotorDataLevel="0" DisableMode="0">
										<Data>e6020000</Data>
									</InitCmd>
								</InitCmds>
								<StatusBar>
									<Element option="0" SortOder="0" SubIdx="1">
										<Index>24592</Index>
										<Width>100</Width>
									</Element>
									<Element option="0" SortOder="0" SubIdx="18">
										<Index>36880</Index>
										<Width>105</Width>
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									<Element option="0" SortOder="0" SubIdx="17">
										<Index>36888</Index>
										<Width>100</Width>
									</Element>
									<Element option="0" SortOder="0" SubIdx="17">
										<Index>36880</Index>
										<Width>100</Width>
									</Element>
									<Element option="0" SortOder="0" SubIdx="3">
										<Index>24592</Index>
										<Width>200</Width>
									</Element>
								</StatusBar>
							</EL72xxDriveTool>
						</Xml>
						<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" DcInfoAvailable="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x0017000a" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-0010 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS)" Desc="EL7211-0010" PortABoxInfo="#x01000006">
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							<BootStrapData>0010f400f410f400</BootStrapData>
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							<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
								<Entry Name="Position" Index="#x6000" Sub="#x11">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
								<Entry Name="Statusword" Index="#x6010" Sub="#x01">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
								<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
									<Type>DINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
								<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
									<Type>INT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
								<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
								<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
								<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
									<Type>DINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
								<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..3] OF BIT</Type>
								</Entry>
								<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
									<Type>BIT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
								<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
								<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
								<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
								<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
								<Entry Name="Controlword" Index="#x7010" Sub="#x01">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
								<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
									<Type>DINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
								<Entry Name="Target torque" Index="#x7010" Sub="#x09">
									<Type>INT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
								<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
								<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
									<Type>UINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
								<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
									<Type>INT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
								<Entry Name="Target position" Index="#x7010" Sub="#x05">
									<Type>UDINT</Type>
								</Entry>
							</Pdo>
							<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
								<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
									<Type>BIT2</Type>
								</Entry>
								<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..1] OF BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
									<Type>BIT2</Type>
								</Entry>
								<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
									<Type>BIT</Type>
								</Entry>
								<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
									<Type>BIT</Type>
								</Entry>
								<Entry>
									<Type>ARRAY [0..1] OF BIT</Type>
								</Entry>
							</Pdo>
							<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
							<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
						</EtherCAT>
					</Box>
					<Box BoxType="9099" Id="8">
						<Name>Term 8 (EL9011)</Name>
						<ImageId>1003</ImageId>
						<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011" PortABoxInfo="#x01000007"/>
					</Box>
				</Box>
				<EtherCAT DcSyncMode="3"/>
			</Device>
		</Io>
	</Project>
	<Mappings>
		<MappingInfo Identifier="{05000010-0011-0101-1000-040310000101}" Id="#x03070010" Watchdog="14000000040000000400000004000000"/>
		<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x03070030"/>
		<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x03070020"/>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 7 (EL7211-0010)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
				<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
			</OwnerB>
		</OwnerA>
		<OwnerA Name="TIPC^Untitled1^Untitled1 Instance">
			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
				<Link VarA="PlcTask Inputs^MAIN.servo.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.servo.PlcToNc" VarB="Inputs^FromPlc"/>
			</OwnerB>
		</OwnerA>
	</Mappings>
</TcSmProject>
