device_config.xml
129.8 KB
<?xml version="1.0" encoding="utf-8"?><EtherCATConfig><Config><Master><SysHwCfg>1</SysHwCfg><cycleTime>1000</cycleTime><Info><Name><![CDATA[Card 0 ]]></Name></Info></Master><Slave><Info><Name><![CDATA[GR10_1616ETNE]]></Name><DeviceType>197009</DeviceType><VendorId>1048576</VendorId><ProductCode>284428562</ProductCode><RevisionNo>0</RevisionNo><ToltalVirSlot>2</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5888</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6912</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index>#x1B00</Index><Name>Digital input mapping parameter</Name><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input 10 to 17</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>0</SlotIdx><Index>#x1700</Index><Name>Digital output mapping parameter</Name><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output 10 to 17</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Error mode output]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>25094</Index><SubIndex>1</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId><VirSlotId>284426784</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0016XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>0016XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>4</SubIndex><Data>2002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>04</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>33538</Index><SubIndex>1</SubIndex><Data>0000</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>3</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>03</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>3</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>03</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId><VirSlotId>284426784</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0016XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>0016XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>4</SubIndex><Data>2002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>04</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>33538</Index><SubIndex>1</SubIndex><Data>0000</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId><VirSlotId>284426784</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0016XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>0016XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>4</SubIndex><Data>2002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>04</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>33538</Index><SubIndex>1</SubIndex><Data>0000</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>3</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>03</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>3</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>03</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426768</VirSlotId><VirSlotId>284426785</VirSlotId><VirSlotId>284426784</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[1600XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0016XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>1600XXX input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6101</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7203</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>0016XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7302</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>1002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>3</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>4</SubIndex><Data>2002F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>04</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>33283</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>33538</Index><SubIndex>1</SubIndex><Data>0000</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GL10-RTU-ECTA]]></Name><DeviceType>5001</DeviceType><VendorId>1048576</VendorId><ProductCode>284428560</ProductCode><RevisionNo>16801792</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><VirSlotId>284426769</VirSlotId><VirSlotId>284426785</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[3200XXX]]></Name></Info></Module><Module><Info><Name><![CDATA[0032XXX]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5648</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>3200XXX Input maping</Name><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital input CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index DependOnSlot="true" Selected="0">#x6001</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital input CH4-8bit</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>0032XXX Output maping</Name><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output CH1-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output CH2-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>3</SubIndex><BitLen>8</BitLen><Name>Digital output CH3-8bit</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index DependOnSlot="true" Selected="0">#x7103</Index><SubIndex>4</SubIndex><BitLen>8</BitLen><Name>Digital output CH4-8bit</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[clear slot cfg 0xF030 entries]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>1</SubIndex><Data>1102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>2</SubIndex><Data>2102F410</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="false"><Transition>PS</Transition><Comment><![CDATA[download slot cfg 0xF030 entry count]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>61488</Index><SubIndex>0</SubIndex><Data>02</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Configuration Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>1</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Slave and module Error run state]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>2</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[EtherCAT Commucation error mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>3</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[ESC error counter behavor]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>63488</Index><SubIndex>4</SubIndex><Data>00</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[DO module output mode after EtherCAT lost link]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>33027</Index><SubIndex>1</SubIndex><Data>FFFFFFFF</Data><BitLen>32</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index>#x1A00</Index><Name>1st transmit PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Statusword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index>#x1600</Index><Name>1st receive PDO Mapping</Name><Entry><DevType>0</DevType><Index Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Controlword</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave></Config></EtherCATConfig>