		<Slave>
			<Info>
				<Name>
					<![CDATA[InoSV680N]]>
				</Name>
				<DeviceType>402</DeviceType>
				<VendorId>1048576</VendorId>
				<ProductCode>786710</ProductCode>
				<RevisionNo>65536</RevisionNo>
				<ToltalVirSlot>1</ToltalVirSlot>
				<OpMode>0</OpMode>
				<Alias>0</Alias>
				<VirSlotId>0</VirSlotId>
			</Info>
			<ProcessData>
				<Sm2>
					<Type>Outputs</Type>
					<StartAddress>6144</StartAddress>
					<ControlByte>100</ControlByte>
					<Enable>1</Enable>
					<Pdo>5633</Pdo>
				</Sm2>
				<Sm3>
					<Type>Inputs</Type>
					<StartAddress>7168</StartAddress>
					<ControlByte>32</ControlByte>
					<Enable>1</Enable>
					<Pdo>6657</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>
					<Entry>
						<DevType>0</DevType>
						<Index DependOnSlot="true" Selected="0">#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</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>
					<Entry>
						<DevType>0</DevType>
						<Index DependOnSlot="true" Selected="0">#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe pos 1 neg value</Name>
						<DataType>UDINT</DataType>
					</Entry>
				</TxPdo>
			</ProcessData>
			<Mailbox>
				<Send>
					<Start>4096</Start>
					<Length>256</Length>
				</Send>
				<Recv>
					<Start>5120</Start>
					<Length>256</Length>
				</Recv>
				<Protocol>EoE</Protocol>
				<Protocol>CoE</Protocol>
				<CoE>
					<InitCmds>
						<InitCmd Fixed="true">
							<Transition>PS</Transition>
							<Comment>
								<![CDATA[Modes of operation]]>
							</Comment>
							<Timeout>0</Timeout>
							<SlotIdx>0</SlotIdx>
							<Index>24672</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<BitLen>8</BitLen>
						</InitCmd>
					</InitCmds>
				</CoE>
			</Mailbox>
			<DC>
				<ReferenceClock>true</ReferenceClock>
				<AssignActivate>768</AssignActivate>
				<CycleTime>500000</CycleTime>
				<ShiftTime>0</ShiftTime>
			</DC>
		</Slave>