<?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-E CoE Drive</Type>
        <Name LcId="1033">VEICHI SD700-E EtherCAT(CoE) Drive Rev2</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-->
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                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
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                  <BitSize>8</BitSize>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitSize>32</BitSize>
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                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
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              <!--对象字典:0x60C1 子索引结构体定义-->
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                <Name>DT60C1</Name>
                <BitSize>64</BitSize>
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                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
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                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
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                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Symmetrical Diff</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
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                </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>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Interpolation time period</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Interpolation time index</Name>
                  <Type>SINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
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                </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>
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                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Physical outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>RT</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
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              </DataType>
            </DataTypes>
            <!--对象字典的定义部分 开始-->
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              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                <Flags>
                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x1001-->
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x1008-->
                <Index>#x1008</Index>
                <Name>Device name</Name>
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                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x100A-->
                <Index>#x100A</Index>
                <Name>Software version</Name>
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                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x1018-->
                <Index>#x1018</Index>
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                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x1600-->
                <Index>#x1600</Index>
                <Name>1st Receive PDO Mapping</Name>
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                  <Access>rw</Access>
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              <Object>
                <!--对象字典:0x1601-->
                <Index>#x1601</Index>
                <Name>2nd Receive PDO Mapping</Name>
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                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
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              <Object>
                <!--对象字典:0x1602-->
                <Index>#x1602</Index>
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                <Flags>
                  <Access>rw</Access>
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              <Object>
                <!--对象字典:0x1603-->
                <Index>#x1603</Index>
                <Name>4th Receive PDO Mapping</Name>
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                <Flags>
                  <Access>rw</Access>
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              <Object>
                <!--对象字典:0x1A00-->
                <Index>#x1A00</Index>
                <Name>1st Transmit PDO Mapping</Name>
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              <Object>
                <!--对象字典:0x1A01-->
                <Index>#x1A01</Index>
                <Name>2nd Transmit PDO Mapping</Name>
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              </Object>
              <Object>
                <!--对象字典:0x1A02-->
                <Index>#x1A02</Index>
                <Name>3rd Transmit PDO Mapping</Name>
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              <Object>
                <!--对象字典:0x1A03-->
                <Index>#x1A03</Index>
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                <Index>#x1C12</Index>
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                <Index>#x1C13</Index>
                <Name>TxPDO assign</Name>
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                <BitSize>48</BitSize>
                <Flags>
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              <Object>
                <!--对象字典:0x1C32-->
                <Index>#x1c32</Index>
                <Name>SM output parameter</Name>
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                <BitSize>400</BitSize>
                <Flags>
                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x1C33-->
                <Index>#x1c33</Index>
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                  <Category>o</Category>
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                <!--对象字典:0x603F-->
                <Index>#x603F</Index>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <!--对象字典:0x6040-->
                <Index>#x6040</Index>
                <Name>Controlword</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6041-->
                <Index>#x6041</Index>
                <Name>Statusword</Name>
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                <!--对象字典:0x605B-->
                <Index>#x605B</Index>
                <Name>Shutdown option code</Name>
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                <!--对象字典:0x605E-->
                <Index>#x605E</Index>
                <Name>Fault reaction option code</Name>
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                  <Access>rw</Access>
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                <!--对象字典:0x6060-->
                <Index>#x6060</Index>
                <Name>Modes of operation</Name>
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                  <PdoMapping>RT</PdoMapping>
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              <Object>
                <!--对象字典:0x6061-->
                <Index>#x6061</Index>
                <Name>Modes of operation display</Name>
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                  <PdoMapping>T</PdoMapping>
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                <!--对象字典:0x6062-->
                <Index>#x6062</Index>
                <Name>Position demand value</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <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>
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              <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>
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              <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>
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              </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>
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              <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>
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              <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>
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              <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>
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              <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>
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              <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>
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              <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>
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              <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>
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              <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>
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              <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>
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                <!--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>
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                <!--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>
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              <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>
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              <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>
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              <Object>
                <!--对象字典:0x607D-->
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
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                <!--对象字典:0x607E-->
                <Index>#x607E</Index>
                <Name>Polarity</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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              <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>
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              <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>
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                <!--对象字典:0x6081-->
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6083-->
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                  <MaxValue>#x00002710</MaxValue>
                  <DefaultValue>#x000000C8</DefaultValue>
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                <!--对象字典:0x6084-->
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
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                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6085-->
                <Index>#x6085</Index>
                <Name>Quick stop deceleration</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6086-->
                <Index>#x6086</Index>
                <Name>Motion profile type</Name>
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                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6087-->
                <Index>#x6087</Index>
                <Name>Torque slope</Name>
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                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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                <!--对象字典:0x6093-->
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                <Name>Gear ratio</Name>
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                  <Access>ro</Access>
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                <!--对象字典:0x6098-->
                <Index>#x6098</Index>
                <Name>Homing method</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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              <Object>
                <!--对象字典:0x6099-->
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
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                  <Access>ro</Access>
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              <Object>
                <!--对象字典:0x609A-->
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>RT</PdoMapping>
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              </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>
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              </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>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetVelocity</Name>
            <Comment>object 0x60FF:0</Comment>
            <DataType>DINT</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>
        <!-- 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>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Velocity actual value</Name>
            <Comment>object 0x606C: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>
        <!-- 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>