TC_Robot_Contro_System.tsproj.bak

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					<![CDATA[StateUpdateAfterOutputMapping]]>
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					<![CDATA[Adapt the Smulink step sizes to the task cycle times.]]>
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				<Name>ControlDWord</Name>
				<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Override</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>32</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisModeRequest</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>64</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisModeDWord</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>96</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisModeLReal</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>128</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PositionCorrection</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>192</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>256</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetVelo</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>320</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetAcc</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>384</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetDirection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>448</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtControllerOutput</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>512</BitOffs>
			</SubItem>
			<SubItem>
				<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>
			</SubItem>
			<SubItem>
				<Name>Protected</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>5</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ErrorPropagationDelayed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HasBeenStopped</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HasJob</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
			</SubItem>
			<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>
			</SubItem>
			<Format Name="Short">
				<Printf>%08x</Printf>
			</Format>
			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
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			<Format Name="IEC">
				<Printf>16#%08X</Printf>
			</Format>
		</DataType>
		<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>
			</SubItem>
		</DataType>
		<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 Name="Short">
				<Printf>%08x</Printf>
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			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
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			<Format Name="IEC">
				<Printf>16#%08X</Printf>
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		</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>
			</SubItem>
			<Format Name="Short">
				<Printf>%08x</Printf>
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			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
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			<Format Name="IEC">
				<Printf>16#%08X</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
			<BitSize>8</BitSize>
			<SubItem>
				<Name>CamActivationPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDeactivationPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamActive</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDataQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamScalingPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
		</DataType>
		<DataType>
			<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
			<BitSize>128</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>8</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
			</SubItem>
			<SubItem>
				<Name>AxisModeConfirmation</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>96</BitOffs>
			</SubItem>
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						<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="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
				<Axis CreateSymbols="true" AxisType="1" Id="2">
					<Name>Axis 2</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>2688</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>4736</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">
							<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>3008</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>5056</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>
							<BitOffs>1664</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>2688</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="3">
					<Name>Axis 3</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>4352</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>7424</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">
							<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>4672</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>7744</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>
							<BitOffs>3328</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>5376</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="4">
					<Name>Axis 4</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>6016</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>10112</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">
							<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>6336</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>10432</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>
							<BitOffs>4992</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>8064</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="5">
					<Name>Axis 5</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>7680</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>12800</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">
							<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>8000</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>13120</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>
							<BitOffs>6656</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>10752</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="6">
					<Name>Axis 6</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>9344</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>15488</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">
							<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>9664</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>15808</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>
							<BitOffs>8320</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>13440</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="7">
					<Name>Axis 7</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>11008</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>18176</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">
							<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>11328</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>18496</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>
							<BitOffs>9984</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>16128</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="8">
					<Name>Axis 8</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>12672</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>20864</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">
							<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>12992</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>21184</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>
							<BitOffs>11648</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>18816</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="9">
					<Name>Axis 9</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>14336</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>23552</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">
							<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>14656</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>23872</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>
							<BitOffs>13312</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>21504</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="10">
					<Name>Axis 10</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>16000</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>26240</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">
							<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>16320</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>26560</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>
							<BitOffs>14976</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>24192</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="11">
					<Name>Axis 11</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>17664</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>28928</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">
							<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>17984</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>29248</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>
							<BitOffs>16640</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>26880</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="12">
					<Name>Axis 12</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>19328</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>31616</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">
							<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>19648</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>31936</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>
							<BitOffs>18304</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>29568</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="13">
					<Name>Axis 13</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>20992</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>34304</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">
							<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>21312</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>34624</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>
							<BitOffs>19968</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>32256</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="14">
					<Name>Axis 14</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>22656</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>36992</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">
							<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>22976</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>37312</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>
							<BitOffs>21632</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>34944</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="15">
					<Name>Axis 15</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>24320</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>39680</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">
							<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>24640</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>40000</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>
							<BitOffs>23296</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>37632</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="16">
					<Name>Axis 16</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>25984</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>42368</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">
							<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>26304</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>42688</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>
							<BitOffs>24960</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>40320</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="17">
					<Name>Axis 17</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>27648</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>45056</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">
							<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>27968</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>45376</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>
							<BitOffs>26624</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>43008</BitOffs>
							<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>
				<Axis CreateSymbols="true" AxisType="1" Id="18">
					<Name>Axis 18</Name>
					<AxisPara>
						<Velo SlowManual="10" FastManual="20"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="0.000152590218967" 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>29312</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>47744</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">
							<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>29632</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>48064</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>
							<BitOffs>28288</BitOffs>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<BitOffs>45696</BitOffs>
							<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="{41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}" Name="TC_Robot_Contro_System" PrjFilePath="TC_Robot_Contro_System\TC_Robot_Contro_System.plcproj" TmcFilePath="TC_Robot_Contro_System\TC_Robot_Contro_System.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e">
				<Instance Id="#x01010010" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
					<Name>TC_Robot_Contro_System Instance</Name>
					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
					<Vars VarGrpType="1">
						<Name>PlcTask Inputs</Name>
						<Var>
							<Name>MAIN.Current_Turque_Value</Name>
							<Comment>
								<![CDATA[电流、力矩相关值]]>
							</Comment>
							<Type GUID="{5668CD8E-CF1C-B917-34BA-930C5970F763}">ARRAY [1..18] OF INT</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[1].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[2].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[3].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[4].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[5].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[6].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[7].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[8].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[9].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[10].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[11].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[12].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[13].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[14].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[15].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[16].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[17].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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>
						<Var>
							<Name>MAIN.Axis_Robot[18].AxisRef.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" 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.Axis_Robot[1].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[2].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[3].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[4].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[5].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[6].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[7].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[8].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[9].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[10].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[11].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[12].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[13].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[14].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[15].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[16].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[17].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>MAIN.Axis_Robot[18].AxisRef.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
					</Vars>
					<TaskPouOids>
						<TaskPouOid Prio="8" OTCID="#x01010011"/>
						<TaskPouOid Prio="10" OTCID="#x01010012"/>
					</TaskPouOids>
				</Instance>
			</Project>
		</Plc>
		<Io>
			<Device DevType="111" DevFlags="#x0003" AmsPort="28675" AmsNetId="5.41.150.106.4.1" RemoteName="Device 3 (EtherCAT)" Id="3">
				<Name>Device 3 (EtherCAT)</Name>
				<AddressInfo>
					<Pnp>
						<DeviceDesc>Local Area Connection (TwinCAT-Intel PCI Ethernet A</DeviceDesc>
						<DeviceName>\DEVICE\{ED4A50AE-4FDD-42EB-8B81-401D09A0A498}</DeviceName>
						<DeviceData>00010529966a</DeviceData>
					</Pnp>
				</AddressInfo>
				<Image Id="3" AddrType="9" ImageType="3">
					<Name>Image</Name>
				</Image>
				<Box BoxType="9099" Id="1">
					<Name>Drive 1 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x00ffffff">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
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							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
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							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Target Position" Index="#x607a">
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							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
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							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
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								<Type>UINT</Type>
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							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
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						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
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							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
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						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
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							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
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							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
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							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
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							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
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							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
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							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
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							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="2">
					<Name>Drive 2 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000001">
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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								<Type>INT</Type>
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								<Type>UINT</Type>
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								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Position actual value" Index="#x6064">
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								<Type>DINT</Type>
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							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
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							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
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						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
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							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
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							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="3">
					<Name>Drive 3 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000002">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="4">
					<Name>Drive 4 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000003">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="5">
					<Name>Drive 5 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000004">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="6">
					<Name>Drive 6 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000005">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="7">
					<Name>Drive 7 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000006">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
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						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="8">
					<Name>Drive 8 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000007">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
						<SwitchPortData>00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</SwitchPortData>
						<BootStrapData>00188c0000198c00</BootStrapData>
						<SuName>Drive</SuName>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>44432053796e63000000000000000000444320666f722073796e6368726f6e697a6174696f6e00000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>4443204f666600000000000000000000444320756e757365640000000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<MBoxUserCmdData>02000300090000000700000003000000000000000000000000000000000000002060600001000000084f70206d6f646500</MBoxUserCmdData>
						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="9">
					<Name>Drive 9 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000008">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
						<SyncMan>00198c0022000100020000008c008c008c00001922010000</SyncMan>
						<SyncMan>00110a006400010003000000000020002000001164010000</SyncMan>
						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
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							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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						</Pdo>
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							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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								<Type>INT</Type>
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								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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								<Type>DINT</Type>
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								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
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							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
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								<Type>UINT</Type>
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								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
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							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
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							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
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							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
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							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
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							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
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							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
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							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
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							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
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							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
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							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
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							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="10">
					<Name>Drive 10 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000009">
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						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="11">
					<Name>Drive 11 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x0100000a">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
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						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
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							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
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							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="12">
					<Name>Drive 12 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x0100000b">
						<SyncMan>00188c0026000100010000008c008c008c00001826010000</SyncMan>
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						<SyncMan>80110c006000010004000000000020002000801160010000</SyncMan>
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						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="13">
					<Name>Drive 13 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x0100000c">
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							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<ExcludePdo>#x1a00</ExcludePdo>
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							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
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								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
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							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
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				<Box BoxType="9099" Id="14">
					<Name>Drive 14 (Elmo Drive)</Name>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
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							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
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								<Type>DINT</Type>
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								<Type>DINT</Type>
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							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
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								<Type>DINT</Type>
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							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
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								<Type>UINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
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							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
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							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
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							<Entry Name="Polarity" Index="#x607e">
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
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						<CoeProfile ProfileNo="402"/>
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							<Entry Name="Position actual value" Index="#x6064">
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							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
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							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
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							<Entry Name="Torque actual value" Index="#x6077">
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							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
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							<Entry Name="Actual position [counts]" Index="#x6063">
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						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
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							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
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				<Box BoxType="9099" Id="16">
					<Name>Drive 16 (Elmo Drive)</Name>
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							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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								<Type>DINT</Type>
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							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
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								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
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							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
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						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="17">
					<Name>Drive 17 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000010">
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						<MBoxUserCmdData>02000300090000000a000000030000000000000000000000000000000000000020c2600101000000014379636c652074696d6500</MBoxUserCmdData>
						<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
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							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a03" Flags="#x0010">
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							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
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							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
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							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
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							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
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							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
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						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<Box BoxType="9099" Id="18">
					<Name>Drive 18 (Elmo Drive)</Name>
					<ImageId>1001</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0c05" CycleMBoxPolling="true" CoeType="47" EoeType="1" FoeType="1" VendorId="#x0000009a" ProductCode="#x00030924" RevisionNo="#x000103f6" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" DdTime0420="10000" EnableWdDivider0400="true" EnableWdTime0410="true" EnableWdTime0420="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Gold EtherCAT GCON Drive Rev:0x000103F6" Desc="Elmo Drive" PortABoxInfo="#x01000011">
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
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								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
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							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
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							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following errror actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
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							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
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							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
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						<Pdo Name="Inputs" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a14" Flags="#x0010">
							<Entry Name="Touch Probe status" Index="#x60b9">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a15" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Positive" Index="#x60ba">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a16" Flags="#x0010">
							<Entry Name="Touch Probe Pos1 Negative" Index="#x60bb">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a17" Flags="#x0010">
							<Entry Name="Touch probe pos2 pos value" Index="#x60bc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following errror" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1a" Flags="#x0010">
							<Entry Name="Control Effort [cnt/sec]" Index="#x60fa">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1d" Flags="#x0010">
							<Entry Name="Analog Input 1" Index="#x2205" Sub="#x01">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1e" Flags="#x0010">
							<Entry Name="Auxiliary position actual value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a1f" Flags="#x0010" SyncMan="3">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a20" Flags="#x0010">
							<Entry Name="Touch probe pos2 neg value" Index="#x60bd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a21" Flags="#x0010">
							<Entry Name="Extra Status Reg" Index="#x2085">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a22" Flags="#x0010">
							<Entry Name="Elmo Status Reg" Index="#x1002">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Inputs" Index="#x1a23" Flags="#x0010">
							<Entry Name="Extended Inputs Value" Index="#x2202" Sub="#x01">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1605" InOut="1" Flags="#x0010">
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							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1606" InOut="1" Flags="#x0010">
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							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x1619" InOut="1" Flags="#x0010">
							<Entry Name="Touch Probe Function" Index="#x60b8">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Output" Index="#x60fe" Sub="#x01">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161e" InOut="1" Flags="#x0010">
							<Entry Name="Polarity" Index="#x607e">
								<Type>USINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Outputs" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<EtherCAT DeviceDesc="Local Area Connection (TwinCAT-Intel PCI Ethernet A" DcSyncMode="3" EnableVirtualSwitch="true" MaxSwitchPorts="19" MaxSwitchFrames="460"/>
			</Device>
		</Io>
	</Project>
	<Mappings>
		<MappingInfo Identifier="{01010011-0030-0304-1000-010130000403}" Id="#x02030020" Watchdog="04000000040000000400000004000000"/>
		<MappingInfo Identifier="{05000010-0011-0101-1000-040310000101}" Id="#x02030030" Watchdog="04000000040000000400000004000000"/>
		<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030040"/>
		<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030010"/>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 1 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 10">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 10 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 11">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 11 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 12">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 12 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 13">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 13 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		</OwnerA>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 14">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 14 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		</OwnerA>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 15">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 15 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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"/>
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		</OwnerA>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 16">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 16 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 17">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 17 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 18">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 18 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 2">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 2 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 3">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 3 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 4">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 4 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 5">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 5 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 6">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 6 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 7">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 7 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 8">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 8 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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="TINC^NC-Task 1 SAF^Axes^Axis 9">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 9 (Elmo Drive)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Inputs^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Inputs^Status word" 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="Outputs^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Outputs^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Outputs^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Inputs^Position actual value"/>
				<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^TC_Robot_Contro_System^TC_Robot_Contro_System Instance">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 1 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[1]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 10 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[10]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 11 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[11]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 12 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[12]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 13 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[13]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 14 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[14]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 15 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[15]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 16 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[16]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 17 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[17]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 18 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[18]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 2 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[2]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 3 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[3]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 4 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[4]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 5 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[5]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 6 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[6]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 7 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[7]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 8 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[8]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 9 (Elmo Drive)">
				<Link VarA="PlcTask Inputs^MAIN.Current_Turque_Value[9]" VarB="Inputs_1^Current actual value"/>
			</OwnerB>
			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[1].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[1].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 10">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[10].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[10].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 11">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[11].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[11].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 12">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[12].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[12].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 13">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[13].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[13].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 14">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[14].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[14].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 15">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[15].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[15].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 16">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[16].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[16].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 17">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[17].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[17].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 18">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[18].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[18].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[2].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[2].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 3">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[3].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[3].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 4">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[4].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[4].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 5">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[5].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[5].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 6">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[6].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[6].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 7">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[7].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[7].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
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			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 8">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[8].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[8].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
			</OwnerB>
			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 9">
				<Link VarA="PlcTask Inputs^MAIN.Axis_Robot[9].AxisRef.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.Axis_Robot[9].AxisRef.PlcToNc" VarB="Inputs^FromPlc"/>
			</OwnerB>
		</OwnerA>
	</Mappings>
</TcSmProject>