<?xml version="1.0" encoding="utf-8"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
  <Vendor>
    <Id>#x850104</Id>
    <Name>Shenzhen Veichi Electric Co., Ltd</Name>
    <ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A002000000000000000000000000000000000000A39B00A39C00A39C00A39C00A39C00A39C00A39B00A79F0BA7A00CA7A00CA49D01A39B00A39C00A39C00A39B00A09800A39C00A39C00A39C00A39C00A39C009F9800B6B034F6F5E5F7F6E9F7F7EAD3D0859E9600A39C00A39C00A39C00A09800A39C00A39C00A39C00A39C00A39C009D9600D5D28BFFFFFFFFFFFFFFFFFFF8F7EAA9A312A19A00A39C00A39C00A09800A39C00A39C00A39C00A39C00A29B00A69F08F2F1DAFFFFFFFFFFFFFFFFFFFFFFFFC8C4679E9600A39C00A39C00A09800A39C00A39C00A39C00A39C009F9700BBB643FFFFFFFFFFFFFCFCF8D5D288FFFFFFEEECCEA39C03A29B00A39C00A09800A39C00A39C00A39C00A39C009E9700DAD799FFFFFFFFFFFFEFEED2A59E0AEDECCEFFFFFFBBB6439F9700A39C00A09800A39C00A39C00A39C00A19A00A8A10EF5F4E4FFFFFFFFFFFFD3D085989000CAC66BFFFFFFE1DFAB9F9700A39C00A09800A39C00A39C00A39C009E9700C0BB50FFFFFFFFFFFFFEFEFCB5B0329E9600AAA415F9F8EDFCFCF8B0AA23A09900A09800A39C00A39C00A39C009E9700DFDDA7FFFFFFFFFFFFECEBCBA39C02A29B009E9600D8D694FFFFFFD3CF849D9600A09800A39C00A39C00A19A00ABA415F8F8ECFFFFFFFFFFFFCECA779D9600A39C00A09800B4AF2FFEFEFDF5F5E4A7A00CA09800A39C00A39C009E9600C8C467FFFFFFFFFFFFFFFFFEB1AB27A09900A39C00A39C00A09900E7E5BCFFFFFFC6C261A09800A39C00A39C00A19A00B2AD2ABCB746BCB745B8B33BA39C00A39C00A39C00A39C00A19A00AEA81FBCB746B3AD2BA09800A39C00A39C00A39C00A199009E97009E97009F9800A39C00A39C00A39C00A39C00A39C00A199009E9700A09900A09800A39B00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39C00A39B00A09800</ImageData16x14>
  </Vendor>
  <Descriptions>
    <Groups>
      <Group>
        <Type>ServoDrive</Type>
        <Name LcId="1033">Servo Drives</Name>
        <Image16x14>DRIVE</Image16x14>
      </Group>
    </Groups>
    <Devices>
      <Device Physics="YY">
        <Type ProductCode="#x01030507" RevisionNo="#x02040608" UseLrdLwr="false">SD700_ECAT Drive</Type>
        <Name LcId="1033">SD700_ECAT_V1.1_G</Name>
        <Info>
          <StateMachine>
            <Timeout>
              <PreopTimeout>3000</PreopTimeout>
              <SafeopOpTimeout>10000</SafeopOpTimeout>
              <BackToInitTimeout>5000</BackToInitTimeout>
              <BackToSafeopTimeout>200</BackToSafeopTimeout>
            </Timeout>
          </StateMachine>
          <Mailbox>
            <Timeout>
              <RequestTimeout>100</RequestTimeout>
              <ResponseTimeout>2000</ResponseTimeout>
            </Timeout>
          </Mailbox>
        </Info>
        <GroupType>ServoDrive</GroupType>
        <Profile>
          <ChannelInfo>
            <ProfileNo>402</ProfileNo>
          </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>SINT</Name>
                <BitSize>8</BitSize>
              </DataType>
              <DataType>
                <!--Std type (see ETG.2000)-->
                <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>
                <!--Device Name (0x1008) type-->
                <Name>STRING(0)</Name>
                <BitSize>0</BitSize>
              </DataType>
              <DataType>
                <!--Hardware version string (0x1009)-->
                <Name>STRING(8)</Name>
                <BitSize>64</BitSize>
              </DataType>
              <DataType>
                <!--Software version string (0x100A)-->
                <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>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Vendor ID</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Product code</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Revision</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Serial number</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <!--对象字典:0x1600 子索引结构体定义-->
                <Name>DT160X</Name>
                <BitSize>272</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Objects</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Mapping entry (1)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Mapping entry (2)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Mapping entry (3)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Mapping entry (4)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Mapping entry (5)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Mapping entry (6)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Mapping entry (7)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Mapping entry (8)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x1A00 子索引结构体定义-->
              <DataType>
                <Name>DT1A0X</Name>
                <BitSize>272</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Objects</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Mapping entry (1)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Mapping entry (2)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Mapping entry (3)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Mapping entry (4)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Mapping entry (5)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Mapping entry (6)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Mapping entry (7)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Mapping entry (8)</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C00ARR</Name>
                <BaseType>USINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>4</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C00</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of SyncManager channels</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <Name>SyncManager type</Name>
                  <Type>DT1C00ARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C1XARR</Name>
                <BaseType>UINT</BaseType>
                <BitSize>32</BitSize>
                <ArrayInfo>
                  <LBound>1</LBound>
                  <Elements>1</Elements>
                </ArrayInfo>
              </DataType>
              <DataType>
                <Name>DT1C1X</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of assigned PDOs</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <Name>Index of assigned PDO</Name>
                  <Type>DT1C1XARR</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <!--对象字典:0x1C32 子索引结构体定义-->
                <Name>DT1C32</Name>
                <BitSize>400</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>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <!--对象字典:0x1C33 子索引结构体定义-->
                <Name>DT1C33</Name>
                <BitSize>400</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>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </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>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>384</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x607D 子索引结构体定义-->
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x6093 子索引结构体定义-->
              <DataType>
                <Name>DT6091</Name>
                <BitSize>80</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>1</SubIdx>
                  <Name>Motor revolutions</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>R</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Shaft revolutions</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>R</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x6099 子索引结构体定义-->
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x60C1 子索引结构体定义-->
              <DataType>
                <Name>DT60C1</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Position Command</Name>
                  <Type>DINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Symmetrical Diff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x60C2 子索引结构体定义-->
              <DataType>
                <Name>DT60C2</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <!--对象字典:0x60FE 子索引结构体定义-->
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <!--对象字典的定义部分 开始-->
            <!--对象字典:0x1000-->
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>92010000</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1001-->
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1008-->
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x100A-->
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1018-->
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1600-->
                <Index>#x1600</Index>
                <Name>1st Receive PDO Mapping</Name>
                <Type>DT160X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1601-->
                <Index>#x1601</Index>
                <Name>2nd Receive PDO Mapping</Name>
                <Type>DT160X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1602-->
                <Index>#x1602</Index>
                <Name>3rd Receive PDO Mapping</Name>
                <Type>DT160X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1603-->
                <Index>#x1603</Index>
                <Name>4th Receive PDO Mapping</Name>
                <Type>DT160X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1A00-->
                <Index>#x1A00</Index>
                <Name>1st Transmit PDO Mapping</Name>
                <Type>DT1A0X</Type>
                <BitSize>336</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1A01-->
                <Index>#x1A01</Index>
                <Name>2nd Transmit PDO Mapping</Name>
                <Type>DT1A0X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1A02-->
                <Index>#x1A02</Index>
                <Name>3rd Transmit PDO Mapping</Name>
                <Type>DT1A0X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1A03-->
                <Index>#x1A03</Index>
                <Name>4th Transmit PDO Mapping</Name>
                <Type>DT1A0X</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>RxPDO assign</Name>
                <Type>DT1C1X</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>TxPDO assign</Name>
                <Type>DT1C1X</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1C32-->
                <Index>#x1c32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x1C33-->
                <Index>#x1c33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2000-->
                <Index>#x2000</Index>
                <Name>Pn000 Control Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2002-->
                <Index>#x2002</Index>
                <Name>Pn002 Motor rotation direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2003-->
                <Index>#x2003</Index>
                <Name>Pn003 Default monitoring parameters</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4095</MaxValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2004-->
                <Index>#x2004</Index>
                <Name>Pn004 Stop Methods of Servo OFF or 1st Error</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2005-->
                <Index>#x2005</Index>
                <Name>Pn005 Stop Methods of 2nd Error</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2006-->
                <Index>#x2006</Index>
                <Name>Pn006 Over Distance Warning or Not</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2007-->
                <Index>#x2007</Index>
                <Name>Pn007 Stop Methods of Over Distance</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2008-->
                <Index>#x2008</Index>
                <Name>Pn008 Lock Time after Electromagnetic Brake(10ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>50</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2009-->
                <Index>#x2009</Index>
                <Name>Pn009 Electromagnetic brake delay(10ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2010-->
                <Index>#x2010</Index>
                <Name>Pn010 Electromagnetic brake delay unhaloed speed(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2012-->
                <Index>#x2012</Index>
                <Name>Pn012 External braking resistor powe(10w)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2013-->
                <Index>#x2013</Index>
                <Name>Pn013 External braking resistor value(0.01Ω)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2015-->
                <Index>#x2015</Index>
                <Name>Pn015 Overload warning value(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>20</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2016-->
                <Index>#x2016</Index>
                <Name>Pn016 Base current derating setting at motor overload detection(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2039-->
                <Index>#x2039</Index>
                <Name>Pn039 Upper limit value of multi rotating circles(Rev)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>65535</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2040-->
                <Index>#x2040</Index>
                <Name>Pn040 Application method of Absolute Encoder</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2041-->
                <Index>#x2041</Index>
                <Name>Pn041 Low voltage Warning or Error</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2044-->
                <Index>#x2044</Index>
                <Name>Pn044 switche of fully closed-loop application</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>51</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2045-->
                <Index>#x2045</Index>
                <Name>Pn045 Function selection while under voltage </Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2046-->
                <Index>#x2046</Index>
                <Name>Pn046 Torque limit while main circuit voltage drops(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>50</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2047-->
                <Index>#x2047</Index>
                <Name>Pn047 Delay time of torque limit release while main circuit voltage drops(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2050-->
                <Index>#x2050</Index>
                <Name>Pn050 Torque limit method setting</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>3</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2051-->
                <Index>#x2051</Index>
                <Name>Pn051 Max torque limitation 1(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2052-->
                <Index>#x2052</Index>
                <Name>Pn052 Max torque limitation 2(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>500</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2053-->
                <Index>#x2053</Index>
                <Name>Pn053 Emergency stop torque(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>800</MaxValue>
                  <DefaultValue>800</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2070-->
                <Index>#x2070</Index>
                <Name>Pn070 Encoder frequency-dividing pulse</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>16</MinValue>
                  <MaxValue>4194304</MaxValue>
                  <DefaultValue>2048</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2072-->
                <Index>#x2072</Index>
                <Name>Pn072 Reverse direction of frequency division output</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2080-->
                <Index>#x2080</Index>
                <Name>Pn080 Site Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2100-->
                <Index>#x2100</Index>
                <Name>Pn100 Ratio of moments of inertia(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2101-->
                <Index>#x2101</Index>
                <Name>Pn101 1st speed gain(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2102-->
                <Index>#x2102</Index>
                <Name>Pn102 1st Velocity-time integral(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>15</MinValue>
                  <MaxValue>51200</MaxValue>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2103-->
                <Index>#x2103</Index>
                <Name>Pn103 1st position gain(0.1/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2104-->
                <Index>#x2104</Index>
                <Name>Pn104 1st Torque command filtering(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2105-->
                <Index>#x2105</Index>
                <Name>Pn105 2nd speed gain(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2106-->
                <Index>#x2106</Index>
                <Name>Pn106 2nd Velocity-time integral(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>15</MinValue>
                  <MaxValue>51200</MaxValue>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2107-->
                <Index>#x2107</Index>
                <Name>Pn107 2nd position gain(0.1/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2108-->
                <Index>#x2108</Index>
                <Name>Pn108 2nd Torque command filtering(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2110-->
                <Index>#x2110</Index>
                <Name>Pn110 The gain switching function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2111-->
                <Index>#x2111</Index>
                <Name>Pn111 Automatic switching condition of position control gain</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>5</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2112-->
                <Index>#x2112</Index>
                <Name>Pn112 Gain switching transition time 1(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2113-->
                <Index>#x2113</Index>
                <Name>Pn113 Gain switching transition time 2(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2114-->
                <Index>#x2114</Index>
                <Name>Pn114 Gain switching delay time 1(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2115-->
                <Index>#x2115</Index>
                <Name>Pn115 Gain switching delay time 2(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2121-->
                <Index>#x2121</Index>
                <Name>Pn121 Speed feedforward gain(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2122-->
                <Index>#x2122</Index>
                <Name>Pn122 Speed feedforward filter time(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>6400</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2123-->
                <Index>#x2123</Index>
                <Name>Pn123 Use V-REF as the speed feedforward selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2124-->
                <Index>#x2124</Index>
                <Name>Pn124 Speed/Position control selection (T-REF distribution)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2125-->
                <Index>#x2125</Index>
                <Name>Pn125 Time constant of speed feedback filtering(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2126-->
                <Index>#x2126</Index>
                <Name>Pn126 Time constant of speed feedback moving average filtering(125us)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x14</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2130-->
                <Index>#x2130</Index>
                <Name>Pn130 Speed loop control method (PI/IP)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2131-->
                <Index>#x2131</Index>
                <Name>Pn131 The selection switch of speed loop P/PI switch condition</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>4</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2132-->
                <Index>#x2132</Index>
                <Name>Pn132 Speed loop P/PI switching condition (torque command)(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>800</MaxValue>
                  <DefaultValue>200</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2133-->
                <Index>#x2133</Index>
                <Name>Pn133 Speed loop P/PI switching condition (speed command)(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2134-->
                <Index>#x2134</Index>
                <Name>Pn134 Speed loop P/PI switching condition (acceleration speed)(rpm/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2135-->
                <Index>#x2135</Index>
                <Name>Pn135 Speed loop P/PI switching condition (position deviation)(Command unit)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2140-->
                <Index>#x2140</Index>
                <Name>Pn140 Medium frequency vibration suppression control selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x11</MaxValue>
                  <DefaultValue>0x10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2141-->
                <Index>#x2141</Index>
                <Name>Pn141 Inertial modification of intermediate frequency vibration suppression(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2142-->
                <Index>#x2142</Index>
                <Name>Pn142 First medium frequency vibration suppression frequency(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>30000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2143-->
                <Index>#x2143</Index>
                <Name>Pn143 First medium frequency vibration suppression attenuation gain(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>300</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2150-->
                <Index>#x2150</Index>
                <Name>Pn150 Notch filter 1 automatic adjustment selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2151-->
                <Index>#x2151</Index>
                <Name>Pn151 Notch filter 2 automatic adjustment selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2152-->
                <Index>#x2152</Index>
                <Name>Pn152 Automatic notch resonance detection sensitivity(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>200</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2153-->
                <Index>#x2153</Index>
                <Name>Pn153 Notch filter 1 frequency(Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>5000</MaxValue>
                  <DefaultValue>5000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2154-->
                <Index>#x2154</Index>
                <Name>Pn154 Notch filter 1 Q value(0.01)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>70</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2155-->
                <Index>#x2155</Index>
                <Name>Pn155 Notch filter 1 depth(0.001)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2156-->
                <Index>#x2156</Index>
                <Name>Pn156 Notch filter 2 frequency(Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>5000</MaxValue>
                  <DefaultValue>5000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2157-->
                <Index>#x2157</Index>
                <Name>Pn157 Notch filter 2 Q value(0.01)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>70</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2158-->
                <Index>#x2158</Index>
                <Name>Pn158 Notch filter 2 depth(0.001)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2160-->
                <Index>#x2160</Index>
                <Name>Pn160 Disturbance compensation function selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2161-->
                <Index>#x2161</Index>
                <Name>Pn161 Disturbance observer cutoff frequency(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>1500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2163-->
                <Index>#x2163</Index>
                <Name>Pn163 Disturbance compensation coefficient(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2165-->
                <Index>#x2165</Index>
                <Name>Pn165 Disturbance observer inertia correction coefficient(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2166-->
                <Index>#x2166</Index>
                <Name>Pn166 Speed observer switch</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2167-->
                <Index>#x2167</Index>
                <Name>Pn167 Speed observer cutoff frequency(Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>500</MaxValue>
                  <DefaultValue>80</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2168-->
                <Index>#x2168</Index>
                <Name>Pn168 Inertial correction coefficient in speed observer(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2169-->
                <Index>#x2169</Index>
                <Name>Pn169 Fliter time correction  in speed observer(0.01ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2170-->
                <Index>#x2170</Index>
                <Name>Pn170 Friction torque compensation cutoff speed(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>20</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2171-->
                <Index>#x2171</Index>
                <Name>Pn171 Friction torque forward compensation coefficient(1%/100rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2172-->
                <Index>#x2172</Index>
                <Name>Pn172 Friction torque reverse compensation coefficient(1%/100rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2175-->
                <Index>#x2175</Index>
                <Name>Pn175 Robust control options</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2177-->
                <Index>#x2177</Index>
                <Name>Pn177 Robust control tuning values(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>100</MinValue>
                  <MaxValue>800</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2178-->
                <Index>#x2178</Index>
                <Name>Pn178 Minimum load values of robust control(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>500</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2185-->
                <Index>#x2185</Index>
                <Name>Pn185 vibration detection selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2186-->
                <Index>#x2186</Index>
                <Name>Pn186 Vibration detection sensitivity(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>500</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2187-->
                <Index>#x2187</Index>
                <Name>Pn187 Vibration detection value(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>5000</MaxValue>
                  <DefaultValue>50</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2192-->
                <Index>#x2192</Index>
                <Name>Pn192 Detection sensitivity (relative positioning completed) during position overshoot in advance tuning(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2193-->
                <Index>#x2193</Index>
                <Name>Pn193 Maximum gain setting value when searching for maximum gain(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>4000</MaxValue>
                  <DefaultValue>3000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2203-->
                <Index>#x2203</Index>
                <Name>Pn203 Command pulse input rate</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2204-->
                <Index>#x2204</Index>
                <Name>Pn204 Electronic gear ratio numerator</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1073741824</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2206-->
                <Index>#x2206</Index>
                <Name>Pn206 Electronic gear ratio denominator</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1073741824</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2211-->
                <Index>#x2211</Index>
                <Name>Pn211 position command low-pass filtering time(0.1ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>6550</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2212-->
                <Index>#x2212</Index>
                <Name>Pn212 position command slide filtering time(0.1ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2230-->
                <Index>#x2230</Index>
                <Name>Pn230 Low frequency vibration suppression selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2231-->
                <Index>#x2231</Index>
                <Name>Pn231 Low frequency vibration suppression function automatic tuning selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2232-->
                <Index>#x2232</Index>
                <Name>Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed)(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>3000</MaxValue>
                  <DefaultValue>400</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2235-->
                <Index>#x2235</Index>
                <Name>Pn235 Low frequency vibration suppression 1 frequency(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>2000</MaxValue>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2236-->
                <Index>#x2236</Index>
                <Name>Pn236 Low frequency vibration suppression 1 correction(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2237-->
                <Index>#x2237</Index>
                <Name>Pn237 Low frequency vibration suppression 2 frequency(0.1Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>2000</MaxValue>
                  <DefaultValue>2000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2238-->
                <Index>#x2238</Index>
                <Name>Pn238 Low frequency vibration suppression 2 correction(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>1000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2240-->
                <Index>#x2240</Index>
                <Name>Pn240 Model tracking control selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2241-->
                <Index>#x2241</Index>
                <Name>Pn241 Gain of model tracking control(0.1/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>500</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2242-->
                <Index>#x2242</Index>
                <Name>Pn242 Attenuation coefficient of model tracking control(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>500</MinValue>
                  <MaxValue>2000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2243-->
                <Index>#x2243</Index>
                <Name>Pn243 Speed forwardback gain of model tracking(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2244-->
                <Index>#x2244</Index>
                <Name>Pn244 Forward torque feedforward gain of model tracking control(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2245-->
                <Index>#x2245</Index>
                <Name>Pn245 Speed feedforward gain of model tracking control(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2246-->
                <Index>#x2246</Index>
                <Name>Pn246 Gain of 2nd model tracking control(0.1/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>20000</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2247-->
                <Index>#x2247</Index>
                <Name>Pn247 attenuation coefficient of model tracking control(0.1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>500</MinValue>
                  <MaxValue>2000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2248-->
                <Index>#x2248</Index>
                <Name>Pn248 Model tracking control type selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2249-->
                <Index>#x2249</Index>
                <Name>Pn249 Speed feedforward (VFF) / torque feedforward selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2250-->
                <Index>#x2250</Index>
                <Name>Pn250 Instructions of external encoders under full closed loop control mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>3</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2252-->
                <Index>#x2252</Index>
                <Name>Pn252 Motor load division coefficient while tuning 1 cycle under full closed loop(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>20</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2253-->
                <Index>#x2253</Index>
                <Name>Pn253 External grating ruler resolution(P/Rev)</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>4</MinValue>
                  <MaxValue>1048576</MaxValue>
                  <DefaultValue>32768</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2257-->
                <Index>#x2257</Index>
                <Name>Pn257 Large mixed deviation setting</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1073741824</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2260-->
                <Index>#x2260</Index>
                <Name>Pn260 NEAR signal width</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1073741824</MaxValue>
                  <DefaultValue>1073741824</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2262-->
                <Index>#x2262</Index>
                <Name>Pn262 Position arrival range</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1073741824</MaxValue>
                  <DefaultValue>7</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2264-->
                <Index>#x2264</Index>
                <Name>Pn264 Maximum tolerance value of position deviation</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1073741823</MaxValue>
                  <DefaultValue>25165824</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2266-->
                <Index>#x2266</Index>
                <Name>Pn266 Large position deviation alarm setting(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2267-->
                <Index>#x2267</Index>
                <Name>Pn267 Alarm threshold of  position deviation excess when servo is on </Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>1073741823</MaxValue>
                  <DefaultValue>25165824</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2269-->
                <Index>#x2269</Index>
                <Name>Pn269 Warning threshold of large position deviation when servo is on(1%)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>10</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>100</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2270-->
                <Index>#x2270</Index>
                <Name>Pn270 Speed limitation when servo on(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>10000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2274-->
                <Index>#x2274</Index>
                <Name>Pn274 / COIN output time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>2</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2310-->
                <Index>#x2310</Index>
                <Name>Pn310 speed command acceleration time(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2311-->
                <Index>#x2311</Index>
                <Name>Pn311 speed command deceleration time(ms)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2312-->
                <Index>#x2312</Index>
                <Name>Pn312 Zero-speed clamping mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>3</MaxValue>
                  <DefaultValue>3</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2313-->
                <Index>#x2313</Index>
                <Name>Pn313 Zero-speed clamping Speed threshold(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2317-->
                <Index>#x2317</Index>
                <Name>Pn317 Rotation judgment value(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>20</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2320-->
                <Index>#x2320</Index>
                <Name>Pn320 Speed matching range(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2401-->
                <Index>#x2401</Index>
                <Name>Pn401 Torque command LP limiting frequency(Hz)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>100</MinValue>
                  <MaxValue>5000</MaxValue>
                  <DefaultValue>5000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2402-->
                <Index>#x2402</Index>
                <Name>Pn402 Torque command LP Q(0.01)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>50</MinValue>
                  <MaxValue>100</MaxValue>
                  <DefaultValue>50</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2411-->
                <Index>#x2411</Index>
                <Name>Pn411 Torque Cotrl speed limit method</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2412-->
                <Index>#x2412</Index>
                <Name>Pn412 speed limit selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2413-->
                <Index>#x2413</Index>
                <Name>Pn413 Torque Cotrl speed limit(rpm)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>10000</MaxValue>
                  <DefaultValue>1000</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2600-->
                <Index>#x2600</Index>
                <Name>Pn600 on-off input allocation model</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2601-->
                <Index>#x2601</Index>
                <Name>Pn601 CN1-40 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x001</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2602-->
                <Index>#x2602</Index>
                <Name>Pn602 CN1-42 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x102</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2603-->
                <Index>#x2603</Index>
                <Name>Pn603 CN1-43 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x103</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2604-->
                <Index>#x2604</Index>
                <Name>Pn604 CN1-41 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x1D</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2605-->
                <Index>#x2605</Index>
                <Name>Pn605 CN1-44 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x13</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2606-->
                <Index>#x2606</Index>
                <Name>Pn606 CN1-45 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x14</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2607-->
                <Index>#x2607</Index>
                <Name>Pn607 CN1-46 input configuration</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x1FF</MaxValue>
                  <DefaultValue>0x07</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2610-->
                <Index>#x2610</Index>
                <Name>Pn610 on-off input Interior Options 1</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0xFF</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2611-->
                <Index>#x2611</Index>
                <Name>Pn611 on-off input Interior Options 2</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0xFF</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2612-->
                <Index>#x2612</Index>
                <Name>Pn612 on-off input Interior Options 3</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0xFF</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2613-->
                <Index>#x2613</Index>
                <Name>Pn613 CN1-25,26 output configuration1</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x109</MaxValue>
                  <DefaultValue>0x06</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2614-->
                <Index>#x2614</Index>
                <Name>Pn614 CN1-27,28 output configuration2</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x109</MaxValue>
                  <DefaultValue>0x01</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2615-->
                <Index>#x2615</Index>
                <Name>Pn615 CN1-29,30 output configuration3</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>0x109</MaxValue>
                  <DefaultValue>0x02</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2622-->
                <Index>#x2622</Index>
                <Name>Pn622 Warning or Not</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2791-->
                <Index>#x2791</Index>
                <Name>Pn791 Encoder type</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>18</MaxValue>
                  <DefaultValue>10</DefaultValue>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2792-->
                <Index>#x2792</Index>
                <Name>Pn792 Clear absolute encoder operation</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>3</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2900-->
                <Index>#x2900</Index>
                <Name>Pn900 Store Para or Not</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2901-->
                <Index>#x2901</Index>
                <Name>Pn901 Prevent overflow function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2902-->
                <Index>#x2902</Index>
                <Name>Pn902 Set PosAc 0</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>1</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2903-->
                <Index>#x2903</Index>
                <Name>Pn903 Linear axis number(Rev)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>1</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2920-->
                <Index>#x2920</Index>
                <Name>Pn920 Origin position L(Comm/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2921-->
                <Index>#x2921</Index>
                <Name>Pn921 Origin position H(Comm/s)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>1</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x2923-->
                <Index>#x2923</Index>
                <Name>Pn923 Times of multi circle overflow(Rev)</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>65535</MaxValue>
                  <DefaultValue>0</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x603F-->
                <Index>#x603F</Index>
                <Name>Error Code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6040-->
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6041-->
                <Index>#x6041</Index>
                <Name>Statusword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x605B-->
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x605E-->
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6060-->
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6061-->
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6062-->
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6063-->
                <Index>#x6063</Index>
                <Name>Position actual value*</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6064-->
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6065-->
                <Index>#x6065</Index>
                <Name>Following error window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6067-->
                <Index>#x6067</Index>
                <Name>Position window</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6068-->
                <Index>#x6068</Index>
                <Name>Position window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x606B-->
                <Index>#x606B</Index>
                <Name>Velocity demand value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x606C-->
                <Index>#x606C</Index>
                <Name>Velocity actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x606D-->
                <Index>#x606D</Index>
                <Name>Velocity window</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x606E-->
                <Index>#x606E</Index>
                <Name>Velocity window time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x606F-->
                <Index>#x606F</Index>
                <Name>Velocity threshold</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6070-->
                <Index>#x6070</Index>
                <Name>Velocity threshold Time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6071-->
                <Index>#x6071</Index>
                <Name>Target torque</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6072-->
                <Index>#x6072</Index>
                <Name>Max torque</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6074-->
                <Index>#x6074</Index>
                <Name>Torque demand value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6075-->
                <Index>#x6075</Index>
                <Name>Motor rated current</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6076-->
                <Index>#x6076</Index>
                <Name>Motor rated torque</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6077-->
                <Index>#x6077</Index>
                <Name>Torque actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6078-->
                <Index>#x6078</Index>
                <Name>Current actual value</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x607A-->
                <Index>#x607A</Index>
                <Name>Target position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x607C-->
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x607D-->
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x607E-->
                <Index>#x607E</Index>
                <Name>Polarity</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x607F-->
                <Index>#x607F</Index>
                <Name>Max profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6080-->
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6081-->
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6083-->
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>#x00002710</MaxValue>
                  <DefaultValue>#x000000C8</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6084-->
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <MinValue>0</MinValue>
                  <MaxValue>#x00002710</MaxValue>
                  <DefaultValue>#x000000C8</DefaultValue>
                </Info>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6085-->
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6086-->
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6087-->
                <Index>#x6087</Index>
                <Name>Torque slope</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6093-->
                <Index>#x6091</Index>
                <Name>Gear ratio</Name>
                <Type>DT6091</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6098-->
                <Index>#x6098</Index>
                <Name>Homing method</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6099-->
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x609A-->
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60B0-->
                <Index>#x60B0</Index>
                <Name>Position offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60B1-->
                <Index>#x60B1</Index>
                <Name>Velocity offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60B2-->
                <Index>#x60B2</Index>
                <Name>Torque offset</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60B8-->
                <Index>#x60B8</Index>
                <Name>Touch Probe Function</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60B9-->
                <Index>#x60B9</Index>
                <Name>Touch Probe Status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60BA-->
                <Index>#x60BA</Index>
                <Name>Touch Probe Pos1 Pos Value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60BB-->
                <Index>#x60BB</Index>
                <Name>Touch Probe Pos1 Neg Value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60BC-->
                <Index>#x60BC</Index>
                <Name>Touch Probe Pos2 Pos Value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60BD-->
                <Index>#x60BD</Index>
                <Name>Touch Probe Pos2 Neg Value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60C0-->
                <Index>#x60C0</Index>
                <Name>Interpolation sub mode select</Name>
                <Type>INT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60C1-->
                <Index>#x60C1</Index>
                <Name>Interpolation data record</Name>
                <Type>DT60C1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60C2-->
                <Index>#x60C2</Index>
                <Name>Interpolation time period</Name>
                <Type>DT60C2</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60C5-->
                <Index>#x60C5</Index>
                <Name>Max acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60C6-->
                <Index>#x60C6</Index>
                <Name>Max deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60E0-->
                <Index>#x60E0</Index>
                <Name>Positive torque limit</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60E1-->
                <Index>#x60E1</Index>
                <Name>Negtive torque limit</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60F2-->
                <Index>#x60F2</Index>
                <Name>Positioning option code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60F4-->
                <Index>#x60F4</Index>
                <Name>Following error actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60FC-->
                <Index>#x60FC</Index>
                <Name>Position demand internal value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60FD-->
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60FE-->
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x60FF-->
                <Index>#x60FF</Index>
                <Name>Target velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <!--对象字典:0x6502-->
                <Index>#x6502</Index>
                <Name>Supported drive modes</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <!-- SM0 MBX OUT (Master2Slave) -->
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <!-- SM1 MBX INP (Slave2Master) -->
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <!-- SM2 ProcessData OUT (Master2Slave) -->
        <Sm MinSize="1" MaxSize="256" DefaultSize="2" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
        <!-- SM3 ProcessData INP (Slave2Master) -->
        <Sm MinSize="1" MaxSize="256" DefaultSize="6" StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
        <!-- 1st RxPDO -->
        <RxPdo Fixed="0">
          <Index>#x1600</Index>
          <Name>1st RxPDO Mapping</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control Word</Name>
            <Comment>object 0x6040:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetPosition</Name>
            <Comment>object 0x607A:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of operation</Name>
            <Comment>object 0x6060:0</Comment>
            <DataType>SINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B8</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Touch Probe Function</Name>
            <Comment>object 0x60B8:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
        </RxPdo>
        <!-- 2nd RxPDO -->
        <RxPdo Fixed="0" Sm="2">
          <Index>#x1601</Index>
          <Name>2nd RxPDO Mapping</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control Word</Name>
            <Comment>object 0x6040:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetPosition</Name>
            <Comment>object 0x607A:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <!-- 3rd RxPDO -->
        <RxPdo Fixed="0">
          <Index>#x1602</Index>
          <Name>3rd RxPDO Mapping</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control Word</Name>
            <Comment>object 0x6040:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetVelocity</Name>
            <Comment>object 0x60FF:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
        </RxPdo>
        <!-- 4th RxPDO -->
        <RxPdo Fixed="0">
          <Index>#x1603</Index>
          <Name>4th RxPDO Mapping</Name>
          <Exclude>#x1600</Exclude>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control Word</Name>
            <Comment>object 0x6040:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6071</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>TargetTorque</Name>
            <Comment>object 0x6071:0</Comment>
            <DataType>INT</DataType>
          </Entry>
        </RxPdo>
        <!--1st TxPDO -->
        <TxPdo Fixed="0">
          <Index>#x1a00</Index>
          <Name>1st TxPDO Mapping</Name>
          <Exclude>#x1a01</Exclude>
          <Exclude>#x1a02</Exclude>
          <Exclude>#x1a03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Status Word</Name>
            <Comment>object 0x6041:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>ActualPosition</Name>
            <Comment>object 0x6064:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60B9</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Touch Probe Status</Name>
            <Comment>object 0x60B9:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60BA</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Touch Probe Pos1 Pos Value</Name>
            <Comment>object 0x60BA:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <Comment>object 0x60FD:0</Comment>
            <DataType>UDINT</DataType>
          </Entry>
        </TxPdo>
        <!-- 2nd TxPDO -->
        <TxPdo Fixed="0" Sm="3">
          <Index>#x1a01</Index>
          <Name>2nd TxPDO Mapping</Name>
          <Exclude>#x1a00</Exclude>
          <Exclude>#x1a02</Exclude>
          <Exclude>#x1a03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Status Word</Name>
            <Comment>object 0x6041:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>ActualPosition</Name>
            <Comment>object 0x6064:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <!-- 3rd TxPDO -->
        <TxPdo Fixed="0">
          <Index>#x1a02</Index>
          <Name>3rd TxPDO Mapping</Name>
          <Exclude>#x1a00</Exclude>
          <Exclude>#x1a01</Exclude>
          <Exclude>#x1a03</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Status Word</Name>
            <Comment>object 0x6041:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>ActualPosition</Name>
            <Comment>object 0x6064:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <Comment>object 0x606C:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <!-- 4th TxPDO -->
        <TxPdo Fixed="0">
          <Index>#x1a03</Index>
          <Name>4th TxPDO Mapping</Name>
          <Exclude>#x1a00</Exclude>
          <Exclude>#x1a01</Exclude>
          <Exclude>#x1a02</Exclude>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Status Word</Name>
            <Comment>object 0x6041:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>ActualPosition</Name>
            <Comment>object 0x6064:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6077</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>ActualTorque</Name>
            <Comment>object 0x6077:0</Comment>
            <DataType>INT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="true" PdoAssign="true" PdoConfig="true" CompleteAccess="0">
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Op mode</Comment>
            </InitCmd>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x60C2</Index>
              <SubIndex>1</SubIndex>
              <Data>01</Data>
              <Comment>Interpolation time period</Comment>
            </InitCmd>
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x60C2</Index>
              <SubIndex>2</SubIndex>
              <Data>FD</Data>
              <Comment>Interpolation time index</Comment>
            </InitCmd>
          </CoE>
        </Mailbox>
        <Dc Unknown64Bit="true">
          <OpMode>
            <Name>DC</Name>
            <Desc>DC-Synchron</Desc>
            <AssignActivate>#x300</AssignActivate>
            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
          </OpMode>
        </Dc>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>080E0004640000000000</ConfigData>
        </Eeprom>
        <Image16x14>DRIVE</Image16x14>
      </Device>
    </Devices>
  </Descriptions>
</EtherCATInfo>