<?xml version="1.0" encoding="utf-8"?>
<EtherCAT>
  <Version>1.0.0</Version>
  <RxPdos>
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      <Name>RXPDO_PROFILE</Name>
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  <TxPdos>
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        <Name>STATUS_WORD</Name>
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        <Name>ACTUAL_POS</Name>
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    <EscCfg>
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        <Startaddress>0x1200</Startaddress>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x1400</Startaddress>
        <Controlbyte>0x20</Controlbyte>
        <Enable>1</Enable>
        <Function>INPUTS</Function>
      </Sm>
    </EscCfg>
    <EscCfg>
      <Index>20</Index>
      <Sm>
        <Index>0</Index>
        <Startaddress>0x1000</Startaddress>
        <Size>64</Size>
        <Controlbyte>0x26</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXOUT</Function>
      </Sm>
      <Sm>
        <Index>1</Index>
        <Startaddress>0x1100</Startaddress>
        <Size>64</Size>
        <Controlbyte>0x22</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXIN</Function>
      </Sm>
      <Sm>
        <Index>2</Index>
        <Startaddress>0x1200</Startaddress>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x1400</Startaddress>
        <Controlbyte>0x20</Controlbyte>
        <Enable>1</Enable>
        <Function>INPUTS</Function>
      </Sm>
    </EscCfg>
  </EscCfgs>
  <SlvCfgs>
    <SlvCfg>
      <Index>0</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>0</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>1</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>1</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>2</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>2</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>3</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>3</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>4</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>4</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>5</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>5</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>6</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>6</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>7</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>7</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>8</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>8</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>9</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>9</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>10</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>10</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>   
    <SlvCfg>
      <Index>11</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>11</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>12</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>12</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>13</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>13</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>14</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>14</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>15</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>15</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>16</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>16</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>17</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>17</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>18</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>18</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
	<SlvCfg>
      <Index>19</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>19</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
	<SlvCfg>
      <Index>20</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>0</Din>
      <Dout>0</Dout>
      <Ain>0</Ain>
      <Aout>0</Aout>
      <CycData>
        <Atype>POSITION</Atype>
        <CtrlMode>CSP</CtrlMode>
        <UseLrdLwr>FALSE</UseLrdLwr>
        <Cmd>LRW</Cmd>
        <State>DEVICE_STATE_SAFEOP,DEVICE_STATE_OP</State>
      </CycData>
      <Dc>
        <Mode>0x0300</Mode>
      </Dc>
      <MbxStartupProtocol>CoE</MbxStartupProtocol>
      <MbxProtocols>CoE</MbxProtocols>
      <MbxRate>100</MbxRate>
      <EscCfgIndex>20</EscCfgIndex>
      <SdoInitCmdIndex>SDO_APP_CSP</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE</TxPdoIndex>
    </SlvCfg>
  </SlvCfgs>
  <Profiles>
    <Profile>
      <Index>0</Index>
      <Vid>0x00004321</Vid>
      <Pid>0x00008100</Pid>
      <Rev>1</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>DM3E-556</Name>
      <SlvCfgIndex>0</SlvCfgIndex>
    </Profile>
    <Profile>
      <Index>1</Index>
      <Vid>0x00004321</Vid>
      <Pid>0x00008200</Pid>
      <Rev>1</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>DM3E-870</Name>
      <SlvCfgIndex>1</SlvCfgIndex>
    </Profile>
    <Profile>
      <Index>2</Index>
      <Vid>0x00004321</Vid>
      <Pid>0x00008300</Pid>
      <Rev>1</Rev>
      <ProfileIndex>0</ProfileIndex>
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