﻿<?xml version="1.0" encoding="utf-8"?>
<!--Created 2023-06-07 13:12:39 [UTC+8] with esd EtherCAT Workbench 1.4.1 (Registered to: esd_Shanghai)-->
<!--Hint: When manual changes in this file are necessary you might also use the "ENI Extras" (in the "Master" tab page) for that purpose-->
<EtherCATConfig>
	<Config>
		<Master>
			<VendorSpecific Id="23">
				<ProjectGUID>d0e5e84c65b8a82f950b27ee9c48ab22</ProjectGUID>
				<PILayout IncludeCmdHeader="1" />
				<CycleTime>1000</CycleTime>
			</VendorSpecific>
			<Info>
				<Name><![CDATA[EtherCAT Master]]></Name>
				<Destination>ffffffffffff</Destination>
				<Source>7446A0ABD230</Source>
				<EtherType>a488</EtherType>
			</Info>
			<MailboxStates>
				<StartAddr>150994944</StartAddr>
				<!--0x09000000-->
				<Count>1</Count>
			</MailboxStates>
			<EoE>
				<MaxPorts>2</MaxPorts>
				<MaxFrames>120</MaxFrames>
				<MaxMACs>100</MaxMACs>
			</EoE>
			<InitCmds>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<!--BRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<!--BRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[enable ECAT IRQ]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>512</Ado>
					<!--0x0200-->
					<Data>0400</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear configured addresses]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>16</Ado>
					<!--0x0010-->
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear crc register]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>768</Ado>
					<!--0x0300-->
					<Data>0000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear fmmu]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1536</Ado>
					<!--0x0600-->
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear sm]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2048</Ado>
					<!--0x0800-->
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear dc system time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2320</Ado>
					<!--0x0910-->
					<DataLength>32</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear dc cycle cfg]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2433</Ado>
					<!--0x0981-->
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[reset dc speed]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2352</Ado>
					<!--0x0930-->
					<Data>0010</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[configure dc filter]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2356</Ado>
					<!--0x0934-->
					<Data>000c</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[en/disable second physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<!--BWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>259</Ado>
					<!--0x0103-->
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
			</InitCmds>
		</Master>
		<!--Slave count: 1-->
		<Slave>
			<Info>
				<Name><![CDATA[Slave 1 (CAN-EtherCAT)]]></Name>
				<PhysAddr>1001</PhysAddr>
				<!--0x03e9-->
				<!--Alias: 0x0000-->
				<AutoIncAddr>0</AutoIncAddr>
				<!--0x0000, 0-->
				<Physics>YY</Physics>
				<VendorId>23</VendorId>
				<ProductCode>2</ProductCode>
				<RevisionNo>1</RevisionNo>
				<SerialNo>977276232</SerialNo>
			</Info>
			<ProcessData>
				<!--LRW: 198 byte, at log. addr. 0x01000000-->
				<Send>
					<!--Bytes [39..237) in Outputs image-->
					<BitStart>312</BitStart>
					<BitLength>1584</BitLength>
				</Send>
				<Recv>
					<!--Bytes [39..213) in Inputs image-->
					<BitStart>312</BitStart>
					<BitLength>1392</BitLength>
				</Recv>
				<Sm2>
					<Type>Outputs</Type>
					<StartAddress>6144</StartAddress>
					<!--0x1800-->
					<ControlByte>36</ControlByte>
					<!--0x24-->
					<Enable>1</Enable>
					<Pdo>5632</Pdo>
					<!--0x1600-->
				</Sm2>
				<Sm3>
					<Type>Inputs</Type>
					<StartAddress>9216</StartAddress>
					<!--0x2400-->
					<ControlByte>32</ControlByte>
					<!--0x20-->
					<Enable>1</Enable>
					<Pdo>6656</Pdo>
					<!--0x1a00-->
					<Pdo>6789</Pdo>
					<!--0x1a85-->
				</Sm3>
				<TxPdo Fixed="1">
					<Index>#x1a00</Index>
					<Name><![CDATA[CAN TxPDO-Map]]></Name>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>1</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[TX Counter]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>2</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[RX Counter]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>3</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[Number of RX Messages]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>4</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[TX Transaction Number]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>5</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 1]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>6</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 2]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>7</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 3]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>8</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 4]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>9</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 5]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>10</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 6]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>11</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 7]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>12</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 8]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>13</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 9]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>14</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 10]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>15</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 11]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>16</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 12]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>17</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 13]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>18</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 14]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>19</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 15]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>20</SubIndex>
						<BitLen>80</BitLen>
						<Name><![CDATA[RX Message 16]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1a85</Index>
					<Name><![CDATA[CAN Status PDO]]></Name>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>1</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[Bus Off]]></Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>2</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[Warning Limit reached]]></Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>3</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[RX Overflow]]></Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x0</Index>
						<BitLen>1</BitLen>
						<DataType>INVALID</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>5</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[TX Overflow]]></Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[Ack Error]]></Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x0</Index>
						<BitLen>10</BitLen>
						<DataType>INVALID</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>17</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[esd Reserved1]]></Name>
						<DataType>BIT1</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>18</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[esd Reserved2]]></Name>
						<DataType>BIT1</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>19</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[esd Reserved3]]></Name>
						<DataType>BIT1</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>20</SubIndex>
						<BitLen>1</BitLen>
						<Name><![CDATA[esd Reserved4]]></Name>
						<DataType>BIT1</DataType>
					</Entry>
					<Entry>
						<Index>#x0</Index>
						<BitLen>12</BitLen>
						<DataType>INVALID</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>33</SubIndex>
						<BitLen>8</BitLen>
						<Name><![CDATA[Rx Error Counter]]></Name>
						<DataType>USINT</DataType>
					</Entry>
					<Entry>
						<Index>#xf108</Index>
						<SubIndex>34</SubIndex>
						<BitLen>8</BitLen>
						<Name><![CDATA[Tx Error Counter]]></Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<RxPdo Fixed="1">
					<Index>#x1600</Index>
					<Name><![CDATA[CAN RxPDO-Map]]></Name>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>1</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[TX Counter]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>2</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[RX Counter]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>3</SubIndex>
						<BitLen>16</BitLen>
						<Name><![CDATA[Number of TX Messages]]></Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>4</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 1]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>5</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 2]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>6</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 3]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>7</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 4]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>8</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 5]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>9</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 6]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>10</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 7]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>11</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 8]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>12</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 9]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>13</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 10]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>14</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 11]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>15</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 12]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>16</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 13]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>17</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 14]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>18</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 15]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
					<Entry>
						<Index>#x7000</Index>
						<SubIndex>19</SubIndex>
						<BitLen>96</BitLen>
						<Name><![CDATA[TX Message 16]]></Name>
						<DataType>OCTET_STRING</DataType>
					</Entry>
				</RxPdo>
			</ProcessData>
			<Mailbox DataLinkLayer="true">
				<Send>
					<Start>4096</Start>
					<Length>522</Length>
				</Send>
				<Recv>
					<Start>5120</Start>
					<Length>522</Length>
					<StatusBitAddr>0</StatusBitAddr>
				</Recv>
				<BootStrap>
					<Send>
						<Start>4096</Start>
						<Length>522</Length>
					</Send>
					<Recv>
						<Start>5120</Start>
						<Length>522</Length>
					</Recv>
				</BootStrap>
				<Protocol>CoE</Protocol>
				<Protocol>EoE</Protocol>
				<Protocol>FoE</Protocol>
				<CoE>
					<InitCmds>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Clear SM2 PDOs]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7186</Index>
							<SubIndex>0</SubIndex>
							<Data>00</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Download SM2 PDO1]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7186</Index>
							<SubIndex>1</SubIndex>
							<Data>0016</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Download SM2 PDO count]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7186</Index>
							<SubIndex>0</SubIndex>
							<Data>01</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Clear SM3 PDOs]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7187</Index>
							<SubIndex>0</SubIndex>
							<Data>00</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Download SM3 PDO1]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7187</Index>
							<SubIndex>1</SubIndex>
							<Data>001a</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Download SM3 PDO2]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7187</Index>
							<SubIndex>2</SubIndex>
							<Data>851a</Data>
						</InitCmd>
						<InitCmd Fixed="1">
							<Transition>PS</Transition>
							<Comment><![CDATA[Download SM3 PDO count]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>7187</Index>
							<SubIndex>0</SubIndex>
							<Data>02</Data>
						</InitCmd>
						<!--Commands added by user:-->
						<InitCmd Fixed="0" CompleteAccess="0">
							<Transition>PS</Transition>
							<Timeout>1000</Timeout>
							<Ccs>1</Ccs>
							<Index>63488</Index>
							<SubIndex>2</SubIndex>
							<Data>00</Data>
						</InitCmd>
					</InitCmds>
				</CoE>
				<FoE />
			</Mailbox>
			<InitCmds>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>1100</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<!--APRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<!--APRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>20000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>1100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<!--APRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>0000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[assign EEPROM to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1280</Ado>
					<!--0x0500-->
					<Data>00</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1282</Ado>
					<!--0x0502-->
					<Data>000108000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<!--APRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1288</Ado>
					<!--0x0508-->
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>17000000</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1282</Ado>
					<!--0x0502-->
					<Data>00010a000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<!--APRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1288</Ado>
					<!--0x0508-->
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>02000000</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>16</Ado>
					<!--0x0010-->
					<Data>e903</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>1200</Data>
					<Retries>300</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2048</Ado>
					<!--0x0800-->
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>2048</Ado>
					<!--0x0800-->
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 0 (mailbox out)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2048</Ado>
					<!--0x0800-->
					<Data>00100a0226000100</Data>
					<!--physAddr = 0x1000, len = 0x020a, contrReg = 0x26, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 1 (mailbox in)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2056</Ado>
					<!--0x0808-->
					<Data>00140a0222000100</Data>
					<!--physAddr = 0x1400, len = 0x020a, contrReg = 0x22, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2048</Ado>
					<!--0x0800-->
					<Data>00100a0226000100</Data>
					<!--physAddr = 0x1000, len = 0x020a, contrReg = 0x26, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2056</Ado>
					<!--0x0808-->
					<Data>00140a0222000100</Data>
					<!--physAddr = 0x1400, len = 0x020a, contrReg = 0x22, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sm 2 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2064</Ado>
					<!--0x0810-->
					<Data>0000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sm 3 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2072</Ado>
					<!--0x0818-->
					<Data>0000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 2 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2064</Ado>
					<!--0x0810-->
					<Data>0018c60024000100</Data>
					<!--physAddr = 0x1800, len = 0x00c6, contrReg = 0x24, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 3 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>2072</Ado>
					<!--0x0818-->
					<Data>0024ae0020000100</Data>
					<!--physAddr = 0x2400, len = 0x00ae, contrReg = 0x20, statusReg = 0x00, activate = 0x01, pdiControl = 0x00-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 0]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1536</Ado>
					<!--0x0600-->
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 0 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1536</Ado>
					<!--0x0600-->
					<Data>00000001ae0000070024000101000000</Data>
					<!--logStartAddr = 0x01000000, len = 0x00ae, logStartBit = 0, logStopBit = 7, physStartAddr = 0x2400, physStartBit = 0, type = 1, activate = 1-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 1]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1552</Ado>
					<!--0x0610-->
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 1 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1552</Ado>
					<!--0x0610-->
					<Data>00000001c60000070018000201000000</Data>
					<!--logStartAddr = 0x01000000, len = 0x00c6, logStartBit = 0, logStopBit = 7, physStartAddr = 0x1800, physStartBit = 0, type = 2, activate = 1-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[clear fmmu 2]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1568</Ado>
					<!--0x0620-->
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set fmmu 2 (mboxstate)]]></Comment>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1568</Ado>
					<!--0x0620-->
					<Data>00000009010000000d08000101000000</Data>
					<!--logStartAddr = 0x09000000, len = 0x0001, logStartBit = 0, logStopBit = 0, physStartAddr = 0x080d, physStartBit = 0, type = 1, activate = 1-->
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>0400</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[assign EEPROM to PDI]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>1280</Ado>
					<!--0x0500-->
					<Data>01</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>II</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1280</Ado>
					<!--0x0500-->
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>1200</Data>
					<Cnt>1</Cnt>
					<Retries>300</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>BI</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<!--APWR-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>1280</Ado>
					<!--0x0500-->
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>1300</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>030000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>0400</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>20000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>5000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[set device state to OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<!--FPWR-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>288</Ado>
					<!--0x0120-->
					<Data>0800</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[check device state for OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<!--FPRD-->
					<Adp>1001</Adp>
					<!--0x03e9-->
					<Ado>304</Ado>
					<!--0x0130-->
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>080000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>20000</Timeout>
					</Validate>
				</InitCmd>
			</InitCmds>
		</Slave>
		<Cyclic>
			<CycleTime>1000</CycleTime>
			<Frame>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[Read mailbox states]]></Comment>
					<Cmd>10</Cmd>
					<!--LRD-->
					<Addr>150994944</Addr>
					<!--0x09000000-->
					<DataLength>1</DataLength>
					<Cnt>1</Cnt>
					<InputOffs>16</InputOffs>
					<OutputOffs>16</OutputOffs>
				</Cmd>
				<Cmd>
					<State>OP</State>
					<State>SAFEOP</State>
					<Comment><![CDATA[LRW for "Slave 1 (CAN-EtherCAT)"]]></Comment>
					<Cmd>12</Cmd>
					<!--LRW-->
					<Addr>16777216</Addr>
					<!--0x01000000-->
					<DataLength>198</DataLength>
					<Cnt>3</Cnt>
					<InputOffs>29</InputOffs>
					<OutputOffs>29</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[Read AL State registers]]></Comment>
					<Cmd>7</Cmd>
					<!--BRD-->
					<Adp>0</Adp>
					<!--0x0000-->
					<Ado>304</Ado>
					<!--0x0130-->
					<DataLength>2</DataLength>
					<Cnt>1</Cnt>
					<InputOffs>239</InputOffs>
					<OutputOffs>239</OutputOffs>
				</Cmd>
			</Frame>
		</Cyclic>
		<ProcessImage>
			<Inputs>
				<ByteSize>1532</ByteSize>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.TX Counter</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>312</BitOffs>
					<!--Bytes [39.0..41.0) (@logical addr 0x01000000.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Counter</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>328</BitOffs>
					<!--Bytes [41.0..43.0) (@logical addr 0x01000002.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.Number of RX Messages</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>344</BitOffs>
					<!--Bytes [43.0..45.0) (@logical addr 0x01000004.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.TX Transaction Number</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>360</BitOffs>
					<!--Bytes [45.0..47.0) (@logical addr 0x01000006.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 1</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>376</BitOffs>
					<!--Bytes [47.0..57.0) (@logical addr 0x01000008.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 2</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>456</BitOffs>
					<!--Bytes [57.0..67.0) (@logical addr 0x01000012.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 3</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>536</BitOffs>
					<!--Bytes [67.0..77.0) (@logical addr 0x0100001c.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 4</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>616</BitOffs>
					<!--Bytes [77.0..87.0) (@logical addr 0x01000026.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 5</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>696</BitOffs>
					<!--Bytes [87.0..97.0) (@logical addr 0x01000030.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 6</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>776</BitOffs>
					<!--Bytes [97.0..107.0) (@logical addr 0x0100003a.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 7</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>856</BitOffs>
					<!--Bytes [107.0..117.0) (@logical addr 0x01000044.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 8</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>936</BitOffs>
					<!--Bytes [117.0..127.0) (@logical addr 0x0100004e.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 9</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1016</BitOffs>
					<!--Bytes [127.0..137.0) (@logical addr 0x01000058.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 10</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1096</BitOffs>
					<!--Bytes [137.0..147.0) (@logical addr 0x01000062.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 11</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1176</BitOffs>
					<!--Bytes [147.0..157.0) (@logical addr 0x0100006c.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 12</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1256</BitOffs>
					<!--Bytes [157.0..167.0) (@logical addr 0x01000076.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 13</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1336</BitOffs>
					<!--Bytes [167.0..177.0) (@logical addr 0x01000080.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 14</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1416</BitOffs>
					<!--Bytes [177.0..187.0) (@logical addr 0x0100008a.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 15</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1496</BitOffs>
					<!--Bytes [187.0..197.0) (@logical addr 0x01000094.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN TxPDO-Map.RX Message 16</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>80</BitSize>
					<!--ByteSize = 10.0-->
					<BitOffs>1576</BitOffs>
					<!--Bytes [197.0..207.0) (@logical addr 0x0100009e.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.Bus Off</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1656</BitOffs>
					<!--Bytes [207.0..207.1) (@logical addr 0x010000a8.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.Warning Limit reached</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1657</BitOffs>
					<!--Bytes [207.1..207.2) (@logical addr 0x010000a8.1)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.RX Overflow</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1658</BitOffs>
					<!--Bytes [207.2..207.3) (@logical addr 0x010000a8.2)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.TX Overflow</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1660</BitOffs>
					<!--Bytes [207.4..207.5) (@logical addr 0x010000a8.4)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.Ack Error</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1661</BitOffs>
					<!--Bytes [207.5..207.6) (@logical addr 0x010000a8.5)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.esd Reserved1</Name>
					<DataType>BIT1</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1672</BitOffs>
					<!--Bytes [209.0..209.1) (@logical addr 0x010000aa.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.esd Reserved2</Name>
					<DataType>BIT1</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1673</BitOffs>
					<!--Bytes [209.1..209.2) (@logical addr 0x010000aa.1)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.esd Reserved3</Name>
					<DataType>BIT1</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1674</BitOffs>
					<!--Bytes [209.2..209.3) (@logical addr 0x010000aa.2)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.esd Reserved4</Name>
					<DataType>BIT1</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1675</BitOffs>
					<!--Bytes [209.3..209.4) (@logical addr 0x010000aa.3)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.Rx Error Counter</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>1688</BitOffs>
					<!--Bytes [211.0..212.0) (@logical addr 0x010000ac.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN Status PDO.Tx Error Counter</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>1696</BitOffs>
					<!--Bytes [212.0..213.0) (@logical addr 0x010000ad.0)-->
				</Variable>
				<Variable>
					<Name>Inputs.Frm0WcState</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12160</BitOffs>
					<!--Bytes [1520.0..1522.0) (@logical addr 0x00000000.-1)-->
				</Variable>
				<Variable>
					<Name>Inputs.SlaveCount</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12176</BitOffs>
					<!--Bytes [1522.0..1524.0) (@logical addr 0x00000000.-1)-->
				</Variable>
				<Variable>
					<Name>Inputs.SlaveCount2</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12192</BitOffs>
					<!--Bytes [1524.0..1526.0) (@logical addr 0x00000000.-1)-->
				</Variable>
				<Variable>
					<Name>Inputs.DevState</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12208</BitOffs>
					<!--Bytes [1526.0..1528.0) (@logical addr 0x00000000.-1)-->
				</Variable>
				<Variable>
					<Name>InfoData.CfgSlaveCount</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12224</BitOffs>
					<!--Bytes [1528.0..1530.0) (@logical addr 0x00000000.-1)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).InfoData.State</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12240</BitOffs>
					<!--Bytes [1530.0..1532.0) (@logical addr 0x00000000.-1)-->
				</Variable>
			</Inputs>
			<Outputs>
				<ByteSize>1532</ByteSize>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Counter</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>312</BitOffs>
					<!--Bytes [39.0..41.0) (@logical addr 0x01000000.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.RX Counter</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>328</BitOffs>
					<!--Bytes [41.0..43.0) (@logical addr 0x01000002.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.Number of TX Messages</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>344</BitOffs>
					<!--Bytes [43.0..45.0) (@logical addr 0x01000004.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 1</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>360</BitOffs>
					<!--Bytes [45.0..57.0) (@logical addr 0x01000006.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 2</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>456</BitOffs>
					<!--Bytes [57.0..69.0) (@logical addr 0x01000012.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 3</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>552</BitOffs>
					<!--Bytes [69.0..81.0) (@logical addr 0x0100001e.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 4</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>648</BitOffs>
					<!--Bytes [81.0..93.0) (@logical addr 0x0100002a.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 5</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>744</BitOffs>
					<!--Bytes [93.0..105.0) (@logical addr 0x01000036.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 6</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>840</BitOffs>
					<!--Bytes [105.0..117.0) (@logical addr 0x01000042.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 7</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>936</BitOffs>
					<!--Bytes [117.0..129.0) (@logical addr 0x0100004e.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 8</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1032</BitOffs>
					<!--Bytes [129.0..141.0) (@logical addr 0x0100005a.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 9</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1128</BitOffs>
					<!--Bytes [141.0..153.0) (@logical addr 0x01000066.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 10</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1224</BitOffs>
					<!--Bytes [153.0..165.0) (@logical addr 0x01000072.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 11</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1320</BitOffs>
					<!--Bytes [165.0..177.0) (@logical addr 0x0100007e.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 12</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1416</BitOffs>
					<!--Bytes [177.0..189.0) (@logical addr 0x0100008a.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 13</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1512</BitOffs>
					<!--Bytes [189.0..201.0) (@logical addr 0x01000096.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 14</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1608</BitOffs>
					<!--Bytes [201.0..213.0) (@logical addr 0x010000a2.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 15</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1704</BitOffs>
					<!--Bytes [213.0..225.0) (@logical addr 0x010000ae.0)-->
				</Variable>
				<Variable>
					<Name>Slave 1 (CAN-EtherCAT).CAN RxPDO-Map.TX Message 16</Name>
					<DataType>OCTET_STRING</DataType>
					<BitSize>96</BitSize>
					<!--ByteSize = 12.0-->
					<BitOffs>1800</BitOffs>
					<!--Bytes [225.0..237.0) (@logical addr 0x010000ba.0)-->
				</Variable>
			</Outputs>
		</ProcessImage>
	</Config>
</EtherCATConfig>