Hi Henry,
thanks, I tried the tool but there seems to be a bug or maybe something
is wrong with my ESI-file. The output file has an uneven data size
(ethercat sii_write returns the error message "Invalid data size 769!
Must be non-zero and even."). There is no error message when creating
the file. I also validated the ESI-file against the EtherCATInfo.xsd
scheme. Are there any known issues that could cause this problem?
Thanks,
Christoph
On 04/21/2016 11:58 PM, Henry Bausley wrote:
Try this
http://synapticon.github.io/siitool/
On Thu, 2016-04-21 at 12:59 +0200, Christoph Schroeder wrote:
Hi All,
we need to generate a binary file for the SII from an existing ESI xml
file. I read that TwinCAT is capable of doing this, but we would prefer
to use free software under Linux. Is there any tool you would suggest?
Background: we are evaluating the Microchip LAN9252 which can be
operated in 2 modes: Digital IO or SPI. Digital IO is preconfigured, now
we want to test the SPI mode which needs another configuration (both ESI
files are available). We will use the IgH EtherCAT-Master to write the
configuration to the EEPROM.
Thanks,
Christoph
________________________________
Helmholtz-Zentrum Berlin für Materialien und Energie GmbH
Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.
Aufsichtsrat: Vorsitzender Prof. Dr. Dr. h.c. mult. Joachim Treusch, stv.
Vorsitzende Dr. Beatrix Vierkorn-Rudolph
Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking
Sitz Berlin, AG Charlottenburg, 89 HRB 5583
Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin
http://www.helmholtz-berlin.de
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________________________________
Helmholtz-Zentrum Berlin für Materialien und Energie GmbH
Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V.
Aufsichtsrat: Vorsitzender Prof. Dr. Dr. h.c. mult. Joachim Treusch, stv.
Vorsitzende Dr. Beatrix Vierkorn-Rudolph
Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking
Sitz Berlin, AG Charlottenburg, 89 HRB 5583
Postadresse:
Hahn-Meitner-Platz 1
D-14109 Berlin
http://www.helmholtz-berlin.de
<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"; xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
<Vendor>
<Id>#xE00004D8</Id>
<Name>Microchip</Name>
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000120B0000120B00000000000000000000FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397B8C75C6748474A5744A75947AFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F8B7521746374847420706374837441746374FF7FFF7FFF7FFF7FFF7FFF7FFF7F00708374A47400709C7FA47463744274E674FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F00702074CD79FF7FFF7F00740070FF7FFF7FFF7FFF7FFF7FFF7F5A7FFF7FFF7F947A0070FF7FFF7FFF7F0070D67AFF7FFF7FD67AFF7FFF7FFF7F0070FF7FFF7F00709C7FFF7FFF7FCD796274FF7FFF7FFF7F00705A7FFF7FFF7F6274E774AD754975FF7FFF7FFF7F0070FF7FFF7FFF7FA5740875FF7FFF7FFF7F497541740070FF7FFF7FFF7F0070187FFF7FFF7FF77A2174FF7FFF7FFF7FFF7F937A217400709C7FFF7F317A0070C674FF7FFF7F00705A7FFF7FFF7FFF7FFF7FFF7F087541740070397B0070A4742170EF790775297DFF7FFF7FFF7FFF7FFF7FFF7FFF7FAC79007000708474A47484742170A57CFF7F7B6FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397F8B75C6748474C574AC75FF7FD6561863FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
</Vendor>
<Descriptions>
<Groups>
<Group SortOrder="0">
<Type>Microchip PIC24 Slaves</Type>
<Name LcId="1031">Microchip PIC24 Slaves</Name>
<Name LcId="1033">Microchip PIC24 Slaves</Name>
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000120B0000120B00000000000000000000FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397B8C75C6748474A5744A75947AFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F8B7521746374847420706374837441746374FF7FFF7FFF7FFF7FFF7FFF7FFF7F00708374A47400709C7FA47463744274E674FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F00702074CD79FF7FFF7F00740070FF7FFF7FFF7FFF7FFF7FFF7F5A7FFF7FFF7F947A0070FF7FFF7FFF7F0070D67AFF7FFF7FD67AFF7FFF7FFF7F0070FF7FFF7F00709C7FFF7FFF7FCD796274FF7FFF7FFF7F00705A7FFF7FFF7F6274E774AD754975FF7FFF7FFF7F0070FF7FFF7FFF7FA5740875FF7FFF7FFF7F497541740070FF7FFF7FFF7F0070187FFF7FFF7FF77A2174FF7FFF7FFF7FFF7F937A217400709C7FFF7F317A0070C674FF7FFF7F00705A7FFF7FFF7FFF7FFF7FFF7F087541740070397B0070A4742170EF790775297DFF7FFF7FFF7FFF7FFF7FFF7FFF7FAC79007000708474A47484742170A57CFF7F7B6FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397F8B75C6748474C574AC75FF7FD6561863FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type ProductCode="#x00009252" RevisionNo="#x1">PIC24 EtherCAT Slave</Type>
<Name LcId="1033">PIC24 EtherCAT Slave</Name>
<Name LcId="1031">PIC24 EtherCAT Slave</Name>
<Info>
<StateMachine>
<Timeout>
<PreopTimeout>2000</PreopTimeout>
<SafeopOpTimeout>9000</SafeopOpTimeout>
<BackToInitTimeout>5000</BackToInitTimeout>
<BackToSafeopTimeout>200</BackToSafeopTimeout>
</Timeout>
</StateMachine>
<Mailbox>
<Timeout>
<RequestTimeout>100</RequestTimeout>
<ResponseTimeout>2000</ResponseTimeout>
</Timeout>
</Mailbox>
</Info>
<GroupType>Microchip PIC24 Slaves</GroupType>
<Profile>
<ChannelInfo>
<ProfileNo>5001</ProfileNo>
<AddInfo>100</AddInfo>
</ChannelInfo>
<ChannelInfo>
<ProfileNo>5001</ProfileNo>
<AddInfo>200</AddInfo>
</ChannelInfo>
<ChannelInfo>
<ProfileNo>5001</ProfileNo>
<AddInfo>300</AddInfo>
</ChannelInfo>
<Dictionary>
<DataTypes>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>BIT2</Name>
<BitSize>2</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>DINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>UDINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>UINT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>USINT</Name>
<BitSize>8</BitSize>
</DataType>
<DataType>
<!--Std type (see ETG.1020)-->
<Name>ARRAY [0..3] OF BYTE</Name>
<BaseType>USINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>0</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<!--Device Name (0x1008) type-->
<Name>STRING(20)</Name>
<BitSize>160</BitSize>
</DataType>
<DataType>
<!--Hardware version string (0x1009)-->
<Name>STRING(3)</Name>
<BitSize>24</BitSize>
</DataType>
<DataType>
<!--Ident object (0x1018) type-->
<Name>DT1018</Name>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Vendor ID</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Product code</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Revision</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Serial number</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C00ARR</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<!--Error Setting object (0x10F1) type-->
<Name>DT10F1</Name>
<BitSize>64</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Local Error Reaction</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Sync Error Counter Limit</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<!--Datatype for SM2(Output) Synchronisation Parameter-->
<Name>DT1C32</Name>
<BitSize>488</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Synchronization Type</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Synchronization Types supported</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Minimum Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Calc and Copy Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Get Cycle Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>SM-Event Missed</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>288</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>Cycle Time Too Small</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>32</SubIdx>
<Name>Sync Error</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>480</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<!--Datatype for SM3(Input) Synchronisation Parameter-->
<Name>DT1C33</Name>
<BitSize>488</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Synchronization Type</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Synchronization Types supported</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Minimum Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Calc and Copy Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Get Cycle Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Delay Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Sync0 Cycle Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>SM-Event Missed</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>288</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>Cycle Time Too Small</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>32</SubIdx>
<Name>Sync Error</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>480</BitOffs>
<Flags>
<Access>ro</Access>
<Category>c</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT0800EN03</Name>
<BaseType>USINT</BaseType>
<BitSize>3</BitSize>
<EnumInfo>
<Text>Signed presentation</Text>
<Enum>0</Enum>
</EnumInfo>
<EnumInfo>
<Text>Unsigned presentation</Text>
<Enum>1</Enum>
</EnumInfo>
</DataType>
<DataType>
<Name>DT1601</Name>
<BitSize>304</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>SubIndex 001</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>SubIndex 002</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>SubIndex 003</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>SubIndex 004</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>SubIndex 005</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>SubIndex 006</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>SubIndex 007</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>SubIndex 008</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>SubIndex 009</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1802</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>TxPDOState</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>TxPDO Toggle</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</Name>
<BitSize>272</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>SubIndex 001</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>SubIndex 002</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>SubIndex 003</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>SubIndex 004</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>SubIndex 005</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>SubIndex 006</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>SubIndex 007</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>SubIndex 008</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6000</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Switch 1</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Switch 2</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Switch 3</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>18</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Switch 4</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>19</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Switch 5</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>20</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Switch 6</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>21</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Switch 7</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Switch 8</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>23</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6020</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Underrange</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Overrange</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Limit 1</Name>
<Type>BIT2</Type>
<BitSize>2</BitSize>
<BitOffs>18</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Limit 2</Name>
<Type>BIT2</Type>
<BitSize>2</BitSize>
<BitOffs>20</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>15</SubIdx>
<Name>TxPDO State</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>30</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>16</SubIdx>
<Name>TxPDO Toggle</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>31</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>17</SubIdx>
<Name>Analog input</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7010</Name>
<BitSize>24</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>LED 1</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>LED 2</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>LED 3</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>18</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>LED 4</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>19</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>LED 5</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>20</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>LED 6</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>21</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>LED 7</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>LED 8</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>23</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT8020</Name>
<BitSize>112</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Enable user scale</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Presentation</Name>
<Type>DT0800EN03</Type>
<BitSize>3</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Enable limit 1</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Enable limit 2</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>23</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>17</SubIdx>
<Name>Offset</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>18</SubIdx>
<Name>Gain</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>19</SubIdx>
<Name>Limit 1</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>20</SubIdx>
<Name>Limit 2</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DTF000</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Module index distance</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Maximum number of modules</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DTF010ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>96</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>3</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DTF010</Name>
<BitSize>112</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DTF010ARR</Type>
<BitSize>96</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
</DataTypes>
<Objects>
<Object>
<Index>#x1000</Index>
<Name>Device type</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>92010000</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>m</Category>
</Flags>
</Object>
<Object>
<Index>#x1001</Index>
<Name>Error register</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Info>
<DefaultData>00</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1008</Index>
<Name>Device name</Name>
<Type>STRING(20)</Type>
<BitSize>160</BitSize>
<Info>
<DefaultData>504943323420457468657243415420536C617665</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1009</Index>
<Name>Hardware version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultData>302E37</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100a</Index>
<Name>Software version</Name>
<Type>STRING(3)</Type>
<BitSize>24</BitSize>
<Info>
<DefaultData>312E32</DefaultData>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1c00</Index>
<Name>Sync manager type</Name>
<Type>DT1C00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>04</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 003</Name>
<Info>
<DefaultData>03</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 004</Name>
<Info>
<DefaultData>04</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1018</Index>
<Name>Identity</Name>
<Type>DT1018</Type>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>04</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Vendor ID</Name>
<Info>
<DefaultData>D80400E0</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Product code</Name>
<Info>
<DefaultData>52920000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Revision</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Serial number</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x10F1</Index>
<Name>Error Settings</Name>
<Type>DT10F1</Type>
<BitSize>64</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Local Error Reaction</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync Error Counter Limit</Name>
<Info>
<DefaultData>04</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1c32</Index>
<Name>SM output parameter</Name>
<Type>DT1C32</Type>
<BitSize>488</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>20</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Synchronization Type</Name>
<Info>
<DefaultData>0100</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Synchronization Types supported</Name>
<Info>
<DefaultData>0780</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Minimum Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Calc and Copy Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Get Cycle Time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM-Event Missed</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle Time Too Small</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync Error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1c33</Index>
<Name>SM input parameter</Name>
<Type>DT1C33</Type>
<BitSize>488</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>20</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Synchronization Type</Name>
<Info>
<DefaultData>2200</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Synchronization Types supported</Name>
<Info>
<DefaultData>0780</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Minimum Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Calc and Copy Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Get Cycle Time</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Delay Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync0 Cycle Time</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SM-Event Missed</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Cycle Time Too Small</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Sync Error</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1601</Index>
<Name>DO RxPDO-Map</Name>
<Type>DT1601</Type>
<BitSize>304</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>09</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>01011070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>01021070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 003</Name>
<Info>
<DefaultData>01031070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 004</Name>
<Info>
<DefaultData>01041070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 005</Name>
<Info>
<DefaultData>01051070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 006</Name>
<Info>
<DefaultData>01061070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 007</Name>
<Info>
<DefaultData>01071070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 008</Name>
<Info>
<DefaultData>01081070</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 009</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1802</Index>
<Name>TxPDO Parameter</Name>
<Type>DT1802</Type>
<BitSize>24</BitSize>
</Object>
<Object>
<Index>#x1a00</Index>
<Name>DI TxPDO-Map</Name>
<Type>DT1601</Type>
<BitSize>304</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>09</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>01010060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>01020060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 003</Name>
<Info>
<DefaultData>01030060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 004</Name>
<Info>
<DefaultData>01040060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 005</Name>
<Info>
<DefaultData>01050060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 006</Name>
<Info>
<DefaultData>01060060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 007</Name>
<Info>
<DefaultData>01070060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 008</Name>
<Info>
<DefaultData>01080060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 009</Name>
<Info>
<DefaultData>09000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1a02</Index>
<Name>AI TxPDO-Map</Name>
<Type>DT1A02</Type>
<BitSize>272</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>08</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>01012060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>01022060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 003</Name>
<Info>
<DefaultData>02032060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 004</Name>
<Info>
<DefaultData>02052060</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 005</Name>
<Info>
<DefaultData>08000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 006</Name>
<Info>
<DefaultData>01070218</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 007</Name>
<Info>
<DefaultData>01090218</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 008</Name>
<Info>
<DefaultData>10112060</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1c12</Index>
<Name>RxPDO assign</Name>
<Type>DT1C12</Type>
<BitSize>32</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>01</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>0116</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1c13</Index>
<Name>TxPDO assign</Name>
<Type>DT1C13</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>001a</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>021a</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6000</Index>
<Name>DI Inputs</Name>
<Type>DT6000</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>08</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 1</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 2</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 3</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 4</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 5</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 6</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 7</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Switch 8</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6020</Index>
<Name>AI Inputs</Name>
<Type>DT6020</Type>
<BitSize>48</BitSize>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x7010</Index>
<Name>DO Outputs</Name>
<Type>DT7010</Type>
<BitSize>24</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>08</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 1</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 2</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 3</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 4</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 5</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 6</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 7</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>LED 8</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x8020</Index>
<Name>AI Settings</Name>
<Type>DT8020</Type>
<BitSize>112</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>14</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Enable user scale</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Presentation</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Enable limit 1</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Enable limit 2</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Offset</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Gain</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Limit 1</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Limit 2</Name>
<Info>
<DefaultData>0000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#xf000</Index>
<Name>Modular device profile</Name>
<Type>DTF000</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>02</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Module index distance</Name>
<Info>
<DefaultData>1000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>Maximum number of modules</Name>
<Info>
<DefaultData>0300</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#xf010</Index>
<Name>Module profile list</Name>
<Type>DTF010</Type>
<BitSize>112</BitSize>
<Info>
<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>03</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>89136400</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>8913c800</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 003</Name>
<Info>
<DefaultData>89132c01</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu>Outputs</Fmmu>
<Fmmu>Inputs</Fmmu>
<Fmmu>MBoxState</Fmmu>
<Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
<Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
<Sm DefaultSize="2" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
<Sm DefaultSize="6" StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
<RxPdo Mandatory="true" Fixed="true" Sm="2">
<Index>#x1601</Index>
<Name>DO Outputs</Name>
<Entry>
<Index>#x7010</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>LED 1</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>LED 2</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>3</SubIndex>
<BitLen>1</BitLen>
<Name>LED 3</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>LED 4</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>LED 5</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>6</SubIndex>
<BitLen>1</BitLen>
<Name>LED 6</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>LED 7</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>8</SubIndex>
<BitLen>1</BitLen>
<Name>LED 8</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</RxPdo>
<TxPdo Mandatory="true" Fixed="true" Sm="3">
<Index>#x1a00</Index>
<Name>DI Inputs</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 1</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 2</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 3</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 4</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 5</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>6</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 6</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 7</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>8</SubIndex>
<BitLen>1</BitLen>
<Name>Switch 8</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
</TxPdo>
<TxPdo Mandatory="true" Fixed="true" Sm="3">
<Index>#x1a02</Index>
<Name>AI Inputs</Name>
<Entry>
<Index>#x6020</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Underrange</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6020</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Overrange</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6020</Index>
<SubIndex>3</SubIndex>
<BitLen>2</BitLen>
<Name>Limit 1</Name>
<DataType>BIT2</DataType>
</Entry>
<Entry>
<Index>#x6020</Index>
<SubIndex>5</SubIndex>
<BitLen>2</BitLen>
<Name>Limit 2</Name>
<DataType>BIT2</DataType>
</Entry>
<Entry>
<Index>#x0</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
<Entry>
<Index>#x1802</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO State</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x1802</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO Toggle</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6020</Index>
<SubIndex>11</SubIndex>
<BitLen>16</BitLen>
<Name>Analog input</Name>
<DataType>INT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" SegmentedSdo="true" CompleteAccess="true" />
</Mailbox>
<Dc>
<OpMode>
<Name>Synchron</Name>
<Desc>SM-Synchron</Desc>
<AssignActivate>#x0</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
</OpMode>
<OpMode>
<Name>DC</Name>
<Desc>DC-Synchron</Desc>
<AssignActivate>#x300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
</OpMode>
</Dc>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>800E00CC8813f000000000800000</ConfigData>
</Eeprom>
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C2010000120B0000120B00000000000000000000FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397B8C75C6748474A5744A75947AFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F8B7521746374847420706374837441746374FF7FFF7FFF7FFF7FFF7FFF7FFF7F00708374A47400709C7FA47463744274E674FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F00702074CD79FF7FFF7F00740070FF7FFF7FFF7FFF7FFF7FFF7F5A7FFF7FFF7F947A0070FF7FFF7FFF7F0070D67AFF7FFF7FD67AFF7FFF7FFF7F0070FF7FFF7F00709C7FFF7FFF7FCD796274FF7FFF7FFF7F00705A7FFF7FFF7F6274E774AD754975FF7FFF7FFF7F0070FF7FFF7FFF7FA5740875FF7FFF7FFF7F497541740070FF7FFF7FFF7F0070187FFF7FFF7FF77A2174FF7FFF7FFF7FFF7F937A217400709C7FFF7F317A0070C674FF7FFF7F00705A7FFF7FFF7FFF7FFF7FFF7F087541740070397B0070A4742170EF790775297DFF7FFF7FFF7FFF7FFF7FFF7FFF7FAC79007000708474A47484742170A57CFF7F7B6FFF7FFF7FFF7FFF7FFF7FFF7FFF7F397F8B75C6748474C574AC75FF7FD6561863FF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>_______________________________________________
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