<?xml version="1.0" encoding="UTF-8"?>
<ISO15745ProfileContainer  xmlns="http://www.canopen.org/xml/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.canopen.org/xml/1.0 CANopen.xsd">
  <ISO15745Profile>
    <ProfileHeader>
    <ProfileIdentification>CAN device profile</ProfileIdentification>
      <ProfileRevision>1</ProfileRevision>
      <ProfileName> </ProfileName>
      <ProfileSource/>
      <ProfileClassID>Device</ProfileClassID>
      <ISO15745Reference>
        <ISO15745Part>1</ISO15745Part>
        <ISO15745Edition>1</ISO15745Edition>
        <ProfileTechnology>CANopen</ProfileTechnology>
      </ISO15745Reference>
    </ProfileHeader>
    <ProfileBody xsi:type="ProfileBody_Device_CANopen" fileName="Xenax.xdd" fileCreator="bit" fileCreationDate="2024-08-08" fileModifiedBy="bit" fileModificationDate="2024-08-08" fileVersion="2.96">
    <DeviceIdentity> 
	<vendorName>Jenny Science AG</vendorName>  
	<vendorID>0x557</vendorID>  
        <deviceFamily>
          <label lang="en"></label>
	  <description lang="en"></description>
        </deviceFamily> 
        <productFamily></productFamily> 
        <productName>XENAX Xvi 48V8</productName> 
        <orderNumber>101601/301005</orderNumber> 
      </DeviceIdentity> 
      <DeviceManager> 
      </DeviceManager> 
      <DeviceFunction> 
        <capabilities>
         <!-- The characteristicsList is a list of key-value pairs.  -->
         <characteristicsList>
            <characteristic>
	      <characteristicName>
		<label lang="en"/>
	      </characteristicName>
	      <characteristicContent>
		<label lang="en"/>
	      </characteristicContent>
	    </characteristic>
    	</characteristicsList>
        </capabilities> 
      </DeviceFunction>
    </ProfileBody> 
  </ISO15745Profile>
  <ISO15745Profile>
    <ProfileHeader>
      <ProfileIdentification>CAN comm net profile</ProfileIdentification>
      <ProfileRevision>1</ProfileRevision>
      <ProfileName/>
      <ProfileSource/>
      <ProfileClassID>CommunicationNetwork</ProfileClassID>
      <ISO15745Reference>
        <ISO15745Part>1</ISO15745Part>
        <ISO15745Edition>1</ISO15745Edition>
        <ProfileTechnology>CANopen</ProfileTechnology>
      </ISO15745Reference>
    </ProfileHeader>
    <ProfileBody xsi:type="ProfileBody_CommunicationNetwork_CANopen" fileName="Xenax.xdd" fileCreator="bit" fileCreationDate="2024-08-08" fileModifiedBy="bit" fileModificationDate="2024-08-08" fileVersion="2.96">
    <ApplicationLayers>
      <identity>
        <vendorID>0x557</vendorID>
      </identity>
      <CANopenObjectList>
        <CANopenObject index="1000" name="Device Type" objectType="7" PDOmapping="no" accessType="const" dataType="0007" defaultValue="0x00020192" objFlags="0004" />
        <CANopenObject index="1001" name="Error Register" objectType="7" PDOmapping="no" accessType="ro" dataType="0005" defaultValue="0x0" objFlags="0007" />
        <CANopenObject index="1005" name="COB-ID SYNC" objectType="7" PDOmapping="no" accessType="rw" dataType="0007" defaultValue="0x80000080" objFlags="0004" />
        <CANopenObject index="1008" name="Manufacturer Device Name" objectType="7" PDOmapping="no" accessType="const" dataType="0009" defaultValue="Servocontroller XENAX Xvi 48V8" objFlags="0007" />
        <CANopenObject index="1009" name="Manufacturer Hardware Version" objectType="7" PDOmapping="no" accessType="const" dataType="0009" objFlags="0004" />
        <CANopenObject index="100A" name="Manufacturer Software Version" objectType="7" PDOmapping="no" accessType="const" dataType="0009" objFlags="0004" />
        <CANopenObject index="1014" name="COB-ID EMCY" objectType="7" PDOmapping="no" accessType="ro" dataType="0007" defaultValue="$NODEID+0x80" />
        <CANopenObject index="1017" name="Producer Heartbeat Time" objectType="7" PDOmapping="no" accessType="ro" dataType="0006" defaultValue="0x00000000" objFlags="0007" />
        <CANopenObject index="1018" name="Identity Object" objectType="9" subNumber="5">
          <CANopenSubObject subIndex="00" name="number of entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x4" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Vendor Id" objectType="7" dataType="0007" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Product Code" objectType="7" dataType="0007" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Revision number" objectType="7" dataType="0007" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Serial number" objectType="7" dataType="0007" accessType="ro" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1200" name="Server SDO Parameter 1" objectType="9" subNumber="3">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="2" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID Client -> Server" objectType="7" dataType="0007" accessType="ro" defaultValue="$NODEID+0x600" PDOmapping="no" objFlags="0007" />
          <CANopenSubObject subIndex="02" name="COB-ID Server -> Client" objectType="7" dataType="0007" accessType="ro" defaultValue="$NODEID+0x580" PDOmapping="no" objFlags="0007" />
        </CANopenObject>
        <CANopenObject index="1400" name="Receive PDO Communication Parameter 1" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="$NODEID+0x200" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFF" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1401" name="Receive PDO Communication Parameter 2" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="$NODEID+0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFF" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1410" name="Receive PDO Communication Parameter 17" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1411" name="Receive PDO Communication Parameter 18" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" PDOmapping="no" />
        </CANopenObject>
        <CANopenObject index="1412" name="Receive PDO Communication Parameter 19" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1413" name="Receive PDO Communication Parameter 20" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1414" name="Receive PDO Communication Parameter 21" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1417" name="Receive PDO Communication Parameter 24" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1600" name="Receive PDO Mapping Parameter 1" objectType="9" subNumber="2">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60400010" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1601" name="Receive PDO Mapping Parameter 2" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60400010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x607A0020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1610" name="Receive PDO Mapping Parameter 17" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60FE0120" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1611" name="Receive PDO Mapping Parameter 18" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60830020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20000020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1612" name="Receive PDO Mapping Parameter 19" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60810020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1613" name="Receive PDO Mapping Parameter 20" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60650020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60670020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1614" name="Receive PDO Mapping Parameter 21" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60730010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1617" name="Receive PDO Mapping Parameter 24" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60400010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20020020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1800" name="Transmit PDO Communication Parameter 1" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="$NODEID+0x180" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFF" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1801" name="Transmit PDO Communication Parameter 2" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="$NODEID+0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFF" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1810" name="Transmit PDO Communication Parameter 17" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1813" name="Transmit PDO Communication Parameter 20" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1814" name="Transmit PDO Communication Parameter 21" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1816" name="Transmit PDO Communication Parameter 23" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1817" name="Transmit PDO Communication Parameter 24" objectType="9" subNumber="6">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="ro" defaultValue="0x05" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="COB-ID" objectType="7" dataType="0007" accessType="rw" defaultValue="0x80000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Transmission Type" objectType="7" dataType="0005" accessType="rw" defaultValue="0xFE" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Inhibit Time" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Compatibility Entry" objectType="7" dataType="0005" accessType="rw" defaultValue="0x00" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Event Timer" objectType="7" dataType="0006" accessType="rw" defaultValue="0x0" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A00" name="Transmit PDO Mapping Parameter 1" objectType="9" subNumber="2">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60410010" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A01" name="Transmit PDO Mapping Parameter 2" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60410010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60640020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A10" name="Transmit PDO Mapping Parameter 17" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60FD0020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A13" name="Transmit PDO Mapping Parameter 20" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60F40020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20060020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A14" name="Transmit PDO Mapping Parameter 21" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x01" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60780010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A16" name="Transmit PDO Mapping Parameter 23" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20050020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20060020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="1A17" name="Transmit PDO Mapping Parameter 24" objectType="9" subNumber="9">
          <CANopenSubObject subIndex="00" name="Number of Entries" objectType="7" dataType="0005" accessType="rw" defaultValue="0x02" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Mapping Entry 1" objectType="7" dataType="0007" accessType="rw" defaultValue="0x60410010" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="Mapping Entry 2" objectType="7" dataType="0007" accessType="rw" defaultValue="0x20050020" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="Mapping Entry 3" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="Mapping Entry 4" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="Mapping Entry 5" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="Mapping Entry 6" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="Mapping Entry 7" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="Mapping Entry 8" objectType="7" dataType="0007" accessType="rw" defaultValue="0x00000000" PDOmapping="no" objFlags="0004" />
        </CANopenObject>
        <CANopenObject index="2000" name="S-Curve Profile" objectType="7" PDOmapping="default" accessType="rw" dataType="0007" objFlags="0007" />
        <CANopenObject index="2001" name="reserved" objectType="7" PDOmapping="optional" accessType="rw" dataType="0007" objFlags="0007" />
        <CANopenObject index="2002" name="reserved" objectType="7" PDOmapping="default" accessType="rw" dataType="0007" objFlags="0007" />
        <CANopenObject index="2003" name="reserved" objectType="7" PDOmapping="optional" accessType="rw" dataType="0007" objFlags="0007" />
        <CANopenObject index="2004" name="Xenax Error Number" objectType="7" PDOmapping="no" accessType="ro" dataType="0002" objFlags="0007" />
        <CANopenObject index="2005" name="I Force Actual" objectType="7" PDOmapping="default" accessType="ro" dataType="0004" objFlags="0007" />
        <CANopenObject index="2006" name="Process Status Register" objectType="7" PDOmapping="default" accessType="ro" dataType="0004" objFlags="0007" />
        <CANopenObject index="2007" name="PDO Cycle Time" objectType="7" PDOmapping="no" accessType="ro" dataType="0006" objFlags="0007" />
        <CANopenObject index="2008" name="Linax/Elax Motor Type " objectType="7" PDOmapping="no" accessType="ro" dataType="0009" />
        <CANopenObject index="2009" name="Limit Force" objectType="7" PDOmapping="optional" accessType="rw" dataType="0004" objFlags="0007" />
        <CANopenObject index="200A" name="Force Actual" objectType="7" PDOmapping="optional" accessType="ro" dataType="0004" objFlags="0007" />
        <CANopenObject index="5000" name="XenaxCommand" objectType="7" PDOmapping="no" accessType="rw" dataType="0007" objFlags="0007" />
        <CANopenObject index="5001" name="Read Parameter Xenax" objectType="8" subNumber="45">
          <CANopenSubObject subIndex="00" name="NumOfEntries" objectType="7" dataType="0005" accessType="ro" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="TS Tell Status" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="02" name="TE Tell Error Number" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="03" name="TP Tell Position" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="04" name="TT Tell Temperature" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="05" name="TOX Tell Output Hex" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="06" name="TIX Tell Input Hex" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="07" name="TMC Tell Motor Current" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="08" name="TMT Tell Motion Time" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="09" name="TCP Tell Captured Position 1" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0A" name="TCP Tell Captured Position 2" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0B" name="TCP Tell Captured Position 3" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0C" name="TCP Tell Captured Position 4" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0D" name="TCP Tell Captured Position 5" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0E" name="TCP Tell Captured Position 6" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="0F" name="TCP Tell Captured Position 7" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="10" name="TCP Tell Captured Position 8" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="11" name="TH Tell Reference State" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="12" name="VER Version of Firmware" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="13" name="ACV Acceleration Variation" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="14" name="I2TM I2T Limit Value" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="15" name="I2T Calculated Value" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="16" name="IFPK I Force Peak" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="17" name="TESM Tell SMU error number" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="18" name="DGMSO Detected Gantry Master Slave Offset" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="19" name="SIFF Sector I_Force Curve Failed" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1A" name="IFPKn I Force Peak Sector selected" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1B" name="FCV Force Calibration Valid" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1C" name="TV Tell velocity of LINAX motor" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1D" name="TPT Tell programm timer value" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1E" name="Bootloader Version" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="1F" name="TCPB Tell Captured Position Buffer 1" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
          <CANopenSubObject subIndex="20" name="TCPB Tell Captured Position Buffer 2" objectType="7" dataType="0004" accessType="ro" PDOmapping="no" objFlags="0004" />
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        <CANopenObject index="6064" name="Position Actual Value " objectType="7" PDOmapping="default" accessType="ro" dataType="0004" />
        <CANopenObject index="6065" name="Following Error Window " objectType="7" PDOmapping="default" accessType="rw" dataType="0007" />
        <CANopenObject index="6067" name="Position Window " objectType="7" PDOmapping="default" accessType="rw" dataType="0007" />
        <CANopenObject index="6068" name="Position Window Time " objectType="7" PDOmapping="no" accessType="rw" dataType="0006" />
        <CANopenObject index="606C" name="Velocity Actual Value " objectType="7" PDOmapping="optional" accessType="ro" dataType="0004" />
        <CANopenObject index="6073" name="Limit I_Force " objectType="7" PDOmapping="default" accessType="rw" dataType="0006" />
        <CANopenObject index="6078" name="Current Actual Value " objectType="7" PDOmapping="default" accessType="ro" dataType="0003" />
        <CANopenObject index="607A" name="Target Position " objectType="7" PDOmapping="default" accessType="rw" dataType="0004" />
        <CANopenObject index="607D" name="Software Position Limit " objectType="8" subNumber="3">
          <CANopenSubObject subIndex="00" name="Highest sub-index supported" objectType="7" dataType="0005" accessType="const" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Min position limit" objectType="7" dataType="0004" accessType="rw" PDOmapping="no" />
          <CANopenSubObject subIndex="02" name="Max position limit" objectType="7" dataType="0004" accessType="rw" PDOmapping="no" />
        </CANopenObject>
        <CANopenObject index="6081" name="Profile Velocity " objectType="7" PDOmapping="default" accessType="rw" dataType="0007" />
        <CANopenObject index="6083" name="Profile Acceleration " objectType="7" PDOmapping="default" accessType="rw" dataType="0007" />
        <CANopenObject index="6084" name="Profile Deceleration " objectType="7" PDOmapping="optional" accessType="rw" dataType="0007" />
        <CANopenObject index="6085" name="Quick Stop Deceleration " objectType="7" PDOmapping="no" accessType="rw" dataType="0007" />
        <CANopenObject index="6098" name="Reference Methods " objectType="7" PDOmapping="no" accessType="rw" dataType="0002" />
        <CANopenObject index="6099" name="Reference Speeds " objectType="8" subNumber="3">
          <CANopenSubObject subIndex="00" name="Highest sub-index supported" objectType="7" dataType="0005" accessType="const" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Speed during search for switch" objectType="7" dataType="0007" accessType="rw" PDOmapping="no" />
          <CANopenSubObject subIndex="02" name="Speed during search for zero" objectType="7" dataType="0007" accessType="rw" PDOmapping="no" />
        </CANopenObject>
        <CANopenObject index="609A" name="Reference Acceleration " objectType="7" PDOmapping="no" accessType="rw" dataType="0007" />
        <CANopenObject index="60B1" name="Velocity Offset " objectType="7" PDOmapping="optional" accessType="rw" dataType="0004" />
        <CANopenObject index="60B2" name="Torque Offset " objectType="7" PDOmapping="optional" accessType="rw" dataType="0003" />
        <CANopenObject index="60C2" name="Interpolation Time Period " objectType="9" subNumber="3">
          <CANopenSubObject subIndex="00" name="Highest sub-index supported" objectType="7" dataType="0005" accessType="const" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Interpolation time period value" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" />
          <CANopenSubObject subIndex="02" name="Interpolation time index" objectType="7" dataType="0002" accessType="rw" PDOmapping="no" />
        </CANopenObject>
        <CANopenObject index="60F4" name="Following Error Actual Value " objectType="7" PDOmapping="default" accessType="ro" dataType="0004" />
        <CANopenObject index="60FD" name="Digital Inputs " objectType="7" PDOmapping="default" accessType="ro" dataType="0007" />
        <CANopenObject index="60FE" name="Digital Outputs " objectType="8" subNumber="3">
          <CANopenSubObject subIndex="00" name="Higheat sub-index supported" objectType="7" dataType="0005" accessType="const" PDOmapping="no" />
          <CANopenSubObject subIndex="01" name="Physical Outputs" objectType="7" dataType="0007" accessType="rw" PDOmapping="no" />
          <CANopenSubObject subIndex="02" name="Output Mask" objectType="7" dataType="0007" accessType="rw" PDOmapping="no" />
        </CANopenObject>
        <CANopenObject index="60FF" name="Target Velocity " objectType="7" PDOmapping="optional" accessType="rw" dataType="0004" />
        <CANopenObject index="6502" name="Supported Drive Modes " objectType="7" PDOmapping="no" accessType="ro" dataType="0007" objFlags="0007" />
        <CANopenObject index="6505" name="Http Drive Catalogue Address " objectType="7" PDOmapping="no" accessType="ro" dataType="0009" />
      </CANopenObjectList>
      <dummyUsage>
        <dummy entry="Dummy0001=0"/>
        <dummy entry="Dummy0002=0"/>
        <dummy entry="Dummy0003=0"/>
        <dummy entry="Dummy0004=0"/>
        <dummy entry="Dummy0005=0"/>
        <dummy entry="Dummy0006=0"/>
        <dummy entry="Dummy0007=0"/>
      </dummyUsage>
    </ApplicationLayers>
    <TransportLayers>
      <PhysicalLayer>
        <baudRate>
          <supportedBaudRate value="10 Kbps" />
          <supportedBaudRate value="20 Kbps" />
          <supportedBaudRate value="50 Kbps" />
          <supportedBaudRate value="125 Kbps" />
          <supportedBaudRate value="250 Kbps" />
          <supportedBaudRate value="500 Kbps" />
          <supportedBaudRate value="800 Kbps" />
          <supportedBaudRate value="1000 Kbps" />
        </baudRate>
      </PhysicalLayer>
    </TransportLayers>
    <NetworkManagement>
      <CANopenGeneralFeatures groupMessaging="false" dynamicChannels="0" selfStartingDevice="false" SDORequestingDevice="false" granularity="8" nrOfRxPDO="8" nrOfTxPDO="7" bootUpSlave="true" layerSettingServiceSlave="false" />
    </NetworkManagement>
    </ProfileBody>
  </ISO15745Profile>
</ISO15745ProfileContainer>
