<Slave><Info><Name><![CDATA[IS620N]]></Name><DeviceType>402</DeviceType><VendorId>1048576</VendorId><ProductCode>786696</ProductCode><RevisionNo>65537</RevisionNo><ToltalVirSlot>1</ToltalVirSlot><OpMode>0</OpMode><Alias>0</Alias><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">0x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60ff</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target velocity</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60b1</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity offset</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60b2</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque offset</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60b8</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch probe function</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60e0</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Positive torque limit value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60e1</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Negative torque limit value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name/><DataType>UDINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">0x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x203f</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Manufacturor Error code</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x606c</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Velocity actual value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6077</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Torque actual value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60fd</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60b9</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Touch Probe Status</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60ba</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe pos 1 pos value</Name><DataType>UDINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60bb</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Touch Probe pos 1 neg value</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[TouchProbe conf3]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24760</Index><SubIndex>0</SubIndex><Data>3300</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>0</ShiftTime></DC></Slave>