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        <Flags>NONE</Flags>
        <Data>0x28000020</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>5</SubIndex>
        <Length>4</Length>
        <Data>0x60F40020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>6</SubIndex>
        <Length>4</Length>
        <Data>0x60B90010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>7</SubIndex>
        <Length>4</Length>
        <Data>0x60BA0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>8</SubIndex>
        <Length>4</Length>
        <Data>0x60BB0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>9</SubIndex>
        <Length>4</Length>
        <Data>0x28130010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>9</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>0</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>1</SubIndex>
        <Length>4</Length>
        <Data>0x68410010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
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      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>2</SubIndex>
        <Length>4</Length>
        <Data>0x68640020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>3</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x68770010</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>4</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0xA8000020</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>5</SubIndex>
        <Length>4</Length>
        <Data>0x68F40020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>6</SubIndex>
        <Length>4</Length>
        <Data>0x68B90010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>7</SubIndex>
        <Length>4</Length>
        <Data>0x68BA0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>8</SubIndex>
        <Length>4</Length>
        <Data>0x68BB0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A01</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>8</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x6060</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>8</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x6860</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>8</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
    </SdoInitCmd>
    <SdoInitCmd>
      <Index>3</Index>
      <Name>SDO_APP_CSP_STOEBER_SB6_SZ6A</Name>
      <Entry>
        <Index>0x1600</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>0</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1600</Index>
        <SubIndex>1</SubIndex>
        <Length>4</Length>
        <Data>0x60400010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1600</Index>
        <SubIndex>2</SubIndex>
        <Length>4</Length>
        <Data>0x607A0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1600</Index>
        <SubIndex>3</SubIndex>
        <Length>4</Length>
        <Data>0x60B80010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1600</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>3</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>0</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>1</SubIndex>
        <Length>4</Length>
        <Data>0x60410010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>2</SubIndex>
        <Length>4</Length>
        <Data>0x60640020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>3</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x60770010</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>4</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x28000020</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>5</SubIndex>
        <Length>4</Length>
        <Data>0x60F40020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>6</SubIndex>
        <Length>4</Length>
        <Data>0x60B90010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>7</SubIndex>
        <Length>4</Length>
        <Data>0x60BA0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>8</SubIndex>
        <Length>4</Length>
        <Data>0x60BB0020</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>9</SubIndex>
        <Length>4</Length>
        <Data>0x28130010</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>10</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x28520010</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>11</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x28C90010</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>12</SubIndex>
        <Length>4</Length>
        <Flags>NONE</Flags>
        <Data>0x20430010</Data>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x1A00</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>12</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
      <Entry>
        <Index>0x6060</Index>
        <SubIndex>0</SubIndex>
        <Length>1</Length>
        <Data>8</Data>
        <Flags>NONE</Flags>
        <Transition>2</Transition>
      </Entry>
    </SdoInitCmd>
  </SdoInitCmds>
  <EscCfgs>
    <EscCfg>
      <Index>0</Index>
      <Sm>
        <Index>0</Index>
        <Startaddress>0x1800</Startaddress>
        <Size>40</Size>
        <Controlbyte>0x26</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXOUT</Function>
      </Sm>
      <Sm>
        <Index>1</Index>
        <Startaddress>0x1c00</Startaddress>
        <Size>40</Size>
        <Controlbyte>0x22</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXIN</Function>
      </Sm>
      <Sm>
        <Index>2</Index>
        <Startaddress>0x1000</Startaddress>
        <Size></Size>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x1100</Startaddress>
        <Size></Size>
        <Controlbyte>0x20</Controlbyte>
        <Enable>1</Enable>
        <Function>INPUTS</Function>
      </Sm>
    </EscCfg>
    <EscCfg>
      <Index>1</Index>
      <Sm>
        <Index>0</Index>
        <Startaddress>0x1000</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x26</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXOUT</Function>
      </Sm>
      <Sm>
        <Index>1</Index>
        <Startaddress>0x1800</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x22</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXIN</Function>
      </Sm>
      <Sm>
        <Index>2</Index>
        <Startaddress>0x2000</Startaddress>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x2800</Startaddress>
        <Controlbyte>0x20</Controlbyte>
        <Enable>1</Enable>
        <Function>INPUTS</Function>
      </Sm>
    </EscCfg>
    <EscCfg>
      <Index>2</Index>
      <Sm>
        <Index>0</Index>
        <Startaddress>0x1000</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x26</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXOUT</Function>
      </Sm>
      <Sm>
        <Index>1</Index>
        <Startaddress>0x1800</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x22</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXIN</Function>
      </Sm>
      <Sm>
        <Index>2</Index>
        <Startaddress>0x2000</Startaddress>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x2800</Startaddress>
        <Controlbyte>0x20</Controlbyte>
        <Enable>1</Enable>
        <Function>INPUTS</Function>
      </Sm>
    </EscCfg>
    <EscCfg>
      <Index>3</Index>
      <Sm>
        <Index>0</Index>
        <Startaddress>0x1000</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x26</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXOUT</Function>
      </Sm>
      <Sm>
        <Index>1</Index>
        <Startaddress>0x1800</Startaddress>
        <Size>48</Size>
        <Controlbyte>0x22</Controlbyte>
        <Enable>1</Enable>
        <Function>MBOXIN</Function>
      </Sm>
      <Sm>
        <Index>2</Index>
        <Startaddress>0x2000</Startaddress>
        <Controlbyte>0x64</Controlbyte>
        <Enable>1</Enable>
        <Function>OUTPUTS</Function>
      </Sm>
      <Sm>
        <Index>3</Index>
        <Startaddress>0x2800</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_STOEBER_SD6</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE_STOEBER_SD6</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE_STOEBER_SD6</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>1</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>16</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_STOEBER_SC6_SINGLE_AX</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE_STOEBER_SC6_SINGLE_AX</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE_STOEBER_SC6_SINGLE_AX</TxPdoIndex>
    </SlvCfg>
    <SlvCfg>
      <Index>2</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>2</Axes>
      <Din>16</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_STOEBER_SC6_DOUBLE_AX</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE_STOEBER_SC6_DOUBLE_AX</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE_STOEBER_SC6_DOUBLE_AX</TxPdoIndex>
      <Vr>
        <Input>
          <Address>2000</Address>
        </Input>
      </Vr>
    </SlvCfg>
    <SlvCfg>
      <Index>3</Index>
      <SlaveType>SERVO</SlaveType>
      <Axes>1</Axes>
      <Din>16</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_STOEBER_SB6_SZ6A</SdoInitCmdIndex>
      <RxPdoIndex>RXPDO_PROFILE_STOEBER_SB6_SZ6A</RxPdoIndex>
      <TxPdoIndex>TXPDO_PROFILE_STOEBER_SB6_SZ6A</TxPdoIndex>
      <Vr>
        <Input>
          <Address>2000</Address>
        </Input>
        <Output>
          <Address>2050</Address>
        </Output>
      </Vr>
    </SlvCfg>
  </SlvCfgs>
  <Profiles>
    <Profile>
      <Index>0</Index>
      <Vid>0x000000b9</Vid>
      <Pid>0x00001770</Pid>
      <Rev>6000</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>SD6 - ATB</Name>
      <SlvCfgIndex>0</SlvCfgIndex>
    </Profile>
    <Profile>
      <Index>1</Index>
      <Vid>0x000000b9</Vid>
      <Pid>0x00001965</Pid>
      <Rev>0</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>SC6/SI6 SingleAx - ATB</Name>
      <SlvCfgIndex>1</SlvCfgIndex>
    </Profile>
    <Profile>
      <Index>2</Index>
      <Vid>0x000000b9</Vid>
      <Pid>0x00001966</Pid>
      <Rev>0</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>SC6/SI6 DoubleAx - ATB</Name>
      <SlvCfgIndex>2</SlvCfgIndex>
    </Profile>
    <Profile>
      <Index>3</Index>
      <Vid>0x000000b9</Vid>
      <Pid>0x000019C9</Pid>
      <Rev>0</Rev>
      <ProfileIndex>0</ProfileIndex>
      <Atype>POSITION</Atype>
      <Name>SB6-SZ6A - ATB</Name>
      <SlvCfgIndex>3</SlvCfgIndex>
    </Profile>
  </Profiles>
  <Vendors>
    <Vendor>
      <Vid>0x000000b9</Vid>
      <Name>STOEBER ANTRIEBSTECHNIK GmbH &amp; Co. KG</Name>
    </Vendor>
  </Vendors>
</EtherCAT>