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]]>
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					<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')

Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
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				<Name>ExtControllerOutput</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>512</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio1</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>576</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio2</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>640</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio3</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>704</BitOffs>
			</SubItem>
			<SubItem>
				<Name>GearRatio4</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>768</BitOffs>
			</SubItem>
			<SubItem>
				<Name>MapState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
				<BitSize>8</BitSize>
				<BitOffs>832</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PlcCycleControl</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
				<BitSize>8</BitSize>
				<BitOffs>840</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PlcCycleCount</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
				<BitSize>8</BitSize>
				<BitOffs>848</BitOffs>
			</SubItem>
			<Properties>
				<Property>
					<Name>NcStructType</Name>
					<Value>1</Value>
				</Property>
			</Properties>
			<Relations>
				<Relation Priority="100">
					<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
				</Relation>
			</Relations>
		</DataType>
		<DataType>
			<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>Operational</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Homed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NotMoving</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>InPositionArea</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>3</BitOffs>
			</SubItem>
			<SubItem>
				<Name>InTargetPosition</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>4</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Protected</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>5</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ErrorPropagationDelayed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HasBeenStopped</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HasJob</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PositiveDirection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>9</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NegativeDirection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>10</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HomingBusy</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>11</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ConstantVelocity</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>12</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Compensating</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>13</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExtSetPointGenEnabled</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>14</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PhasingActive</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>15</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ExternalLatchValid</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>16</BitOffs>
			</SubItem>
			<SubItem>
				<Name>NewTargetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>17</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ContinuousMotion</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>19</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ControlLoopClosed</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>20</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamTableQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>21</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDataQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>22</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamScalingPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>23</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdBuffered</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>24</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PTPmode</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>25</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SoftLimitMinExceeded</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>26</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SoftLimitMaxExceeded</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>27</BitOffs>
			</SubItem>
			<SubItem>
				<Name>DriveDeviceError</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>28</BitOffs>
			</SubItem>
			<SubItem>
				<Name>MotionCommandsLocked</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>29</BitOffs>
			</SubItem>
			<SubItem>
				<Name>IoDataInvalid</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>30</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Error</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>31</BitOffs>
			</SubItem>
			<Format Name="Short">
				<Printf>%08x</Printf>
			</Format>
			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
			</Format>
			<Format Name="IEC">
				<Printf>16#%08X</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>OpModePosAreaMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeTargetPosMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeLoop</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeMotionMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>3</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePEHTimeMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>4</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeBacklashCompensation</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>5</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeDelayedErrorReaction</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeModulo</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSimulationAxis</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePosLagMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>16</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeVeloLagMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>17</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSoftLimitMinMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>18</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeSoftLimitMaxMonitoring</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>19</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModePosCorrection</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>20</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeAllowSlaveCommands</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>21</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeAllowExtSetAxisCommands</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>22</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ApplicationRequest</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>23</BitOffs>
			</SubItem>
		</DataType>
		<DataType>
			<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>AvoidingCollision</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<Format Name="Short">
				<Printf>%08x</Printf>
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			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
			</Format>
			<Format Name="IEC">
				<Printf>16#%08X</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
			<BitSize>32</BitSize>
			<SubItem>
				<Name>Value</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>Flags</Name>
				<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
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			<Format Name="Short">
				<Printf>%08x</Printf>
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			<Format Name="Cpp">
				<Printf>0x%08x</Printf>
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			<Format Name="IEC">
				<Printf>16#%08X</Printf>
			</Format>
		</DataType>
		<DataType>
			<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
			<BitSize>8</BitSize>
			<SubItem>
				<Name>CamActivationPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDeactivationPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>1</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamActive</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>2</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamDataQueued</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>6</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamScalingPending</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>7</BitOffs>
			</SubItem>
		</DataType>
		<DataType>
			<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
			<BitSize>128</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>8</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
			<BitSize>2048</BitSize>
			<SubItem>
				<Name>StateDWord</Name>
				<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
				<BitSize>32</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ErrorCode</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>32</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>64</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisModeConfirmation</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>96</BitOffs>
			</SubItem>
			<SubItem>
				<Name>HomingState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>128</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CoupleState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<Comment>
					<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
				</Comment>
				<BitSize>32</BitSize>
				<BitOffs>160</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SvbEntries</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>192</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SafEntries</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>224</BitOffs>
			</SubItem>
			<SubItem>
				<Name>AxisId</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>256</BitOffs>
			</SubItem>
			<SubItem>
				<Name>OpModeDWord</Name>
				<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
				<BitSize>32</BitSize>
				<BitOffs>288</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>320</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloActPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>384</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActiveControlLoopIndex</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>448</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ControlLoopIndex</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>464</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloActTurns</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>480</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActVelo</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>512</BitOffs>
			</SubItem>
			<SubItem>
				<Name>PosDiff</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>576</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>640</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetVelo</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>704</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetAcc</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>768</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TargetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>832</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloSetPos</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>896</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ModuloSetTurns</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>960</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdNo</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>992</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CmdState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
				<BitSize>16</BitSize>
				<BitOffs>1008</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetJerk</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1024</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetTorque</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1088</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActTorque</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1152</BitOffs>
			</SubItem>
			<SubItem>
				<Name>StateDWord2</Name>
				<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
				<BitSize>32</BitSize>
				<BitOffs>1216</BitOffs>
			</SubItem>
			<SubItem>
				<Name>StateDWord3</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1248</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TouchProbeState</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1280</BitOffs>
			</SubItem>
			<SubItem>
				<Name>TouchProbeCounter</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
				<BitSize>32</BitSize>
				<BitOffs>1312</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamCouplingState</Name>
				<Type GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Type>
				<ArrayInfo>
					<LBound>0</LBound>
					<Elements>8</Elements>
				</ArrayInfo>
				<BitSize>64</BitSize>
				<BitOffs>1344</BitOffs>
			</SubItem>
			<SubItem>
				<Name>CamCouplingTableID</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000039}">UINTARR8</Type>
				<BitSize>128</BitSize>
				<BitOffs>1408</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActTorqueDerivative</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1536</BitOffs>
			</SubItem>
			<SubItem>
				<Name>SetTorqueDerivative</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1600</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActPosWithoutPosCorrection</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1792</BitOffs>
			</SubItem>
			<SubItem>
				<Name>ActAcc</Name>
				<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
				<BitSize>64</BitSize>
				<BitOffs>1856</BitOffs>
			</SubItem>
			<SubItem>
				<Name>DcTimeStamp</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
				<BitSize>32</BitSize>
				<BitOffs>1920</BitOffs>
			</SubItem>
			<Properties>
				<Property>
					<Name>NcStructType</Name>
					<Value>2</Value>
				</Property>
			</Properties>
			<Relations>
				<Relation Priority="100">
					<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{E8DA524A-605F-4879-82E6-B86EF6986572}">NCAXLESTRUCT_TOPLC2</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{B507963E-69F3-4B64-BB8C-2BD7A560976D}">NCAXLESTRUCT_TOPLC3</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"/>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"/>
				</Relation>
				<Relation Priority="100">
					<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"/>
				</Relation>
			</Relations>
		</DataType>
		<DataType>
			<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
			<BitSize>8</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>1</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{85DC3E7A-8ADA-435B-9479-25573909A7DB}" Namespace="AX5000" TcBaseType="true">E_AX5000_P_0275_ActiveFeedbackAndMemory</Name>
			<BitSize>8</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
			<EnumInfo>
				<Text>
					<![CDATA[EAX5000_P_0275_MEMORY_NONE]]>
				</Text>
				<Enum>0</Enum>
			</EnumInfo>
			<EnumInfo>
				<Text>
					<![CDATA[EAX5000_P_0275_FEEDBACK1_MEMORY_ENCODER]]>
				</Text>
				<Enum>1</Enum>
			</EnumInfo>
			<EnumInfo>
				<Text>
					<![CDATA[EAX5000_P_0275_FEEDBACK1_MEMORY_DRIVE]]>
				</Text>
				<Enum>2</Enum>
			</EnumInfo>
			<EnumInfo>
				<Text>
					<![CDATA[EAX5000_P_0275_FEEDBACK2_MEMORY_ENCODER]]>
				</Text>
				<Enum>8</Enum>
			</EnumInfo>
			<EnumInfo>
				<Text>
					<![CDATA[EAX5000_P_0275_FEEDBACK2_MEMORY_DRIVE]]>
				</Text>
				<Enum>16</Enum>
			</EnumInfo>
			<Hides>
				<Hide GUID="{F1A82E04-2D76-4E5D-BB15-437337214D25}"/>
			</Hides>
		</DataType>
		<DataType>
			<Name GUID="{D7D16A25-71D5-48E0-882D-56AB4D826BC2}" Namespace="AX5000" PersistentType="true">ST_AX5000_P_0275</Name>
			<BitSize>16</BitSize>
			<SubItem>
				<Name>ActiveFeedbackAndMemory</Name>
				<Type GUID="{85DC3E7A-8ADA-435B-9479-25573909A7DB}" Namespace="AX5000">E_AX5000_P_0275_ActiveFeedbackAndMemory</Type>
				<BitSize>8</BitSize>
				<BitOffs>0</BitOffs>
			</SubItem>
			<SubItem>
				<Name>InitializationErrorBehavior</Name>
				<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
				<BitSize>1</BitSize>
				<BitOffs>8</BitOffs>
			</SubItem>
			<Hides>
				<Hide GUID="{0D1A14D3-018F-4F48-88A7-90B490A317B5}"/>
				<Hide GUID="{43B3CFF1-FA94-4CC1-8B03-C73EF940373B}"/>
				<Hide GUID="{81B09CD0-943C-4070-AA5B-0A6818251CEB}"/>
				<Hide GUID="{B6598B95-DC2C-454C-9B12-DE628B32D897}"/>
			</Hides>
		</DataType>
	</DataTypes>
	<ImageDatas>
		<ImageData Id="1000">424d360300000000000036000000280000001000000010000000010018000000000000000000c40e0000c40e00000000000000000000dddddddddddddfdfdfe7e7e7e7e7e7e7e7e7e4e4e4e9e9e9e8e8e8eaeaeae9e9e9e9e9e9e5e5e5dfdfdfdddddde2e2e2d4d4d4ffffffffffffa8a8a8b3b3b3b8b8b8d4d4d49b9b9bb1b1b1969696a1a1a19b9b9bc8c8c8ffffffffffffdbdbdbd6d6d6ffffffffffffa3a3a39e9e9e848484a6a6a6c3c3c3a7a7a79191919090909090908d8d8dffffffffffffddddddd6d6d6ffffffffffffc7c7c7ffffffffffffffffffffffffc8c8c8ffffffaaaaaaffffffffffffffffffffffffddddddd6d6d6ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffddddddd6d6d6ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffddddddd7d7d8fffffffbeeccfae4aafce2a4fce1a4fcdea2fddda1fedea0fbd999fcd591fbd392facf94fad6aaffffffdddfe1d6d9dfffe79dfddb8affde7ffbce64ffcd5affcc53ffc747fdbd3effbe3dffb53dfeab3effad47fca448ffa34ddde2e5e2d5b52f2f2fb9a5777e745b827452e6bc5c897344b69347806a3e8e703e6f5c3e8d6c418b6c42f3a354745238e7ba97dacba5b39e6fe7cc8c6761556d6750877449615842a68846bc923f6d5c3fa37c40876841a57e3fa6754c5a4839dbaa88e0d7c298865c434443ffe97fbfa76bffd058ddb152f6be48c89a3ff9b440b385406a5a3fcf8e3dd38b4bcf7332d0c7c0ffffffc7b588f3c869fed16fffd774f4bb43fecb5efdc24fffc047feba4bffb952f8a33df59535dd7b2ad4ab90ffffffffffffffffffd8c090fbcb68ffd47cf9bf3cf9c050fabb5ef8ba5af7b75bf7b55bfbb75fe89b40ece9e2fffffffffffffffffffffffff9fafdc8a458e2b45ce1a82af9b956f8b95cf7b55bf8b35cf8b25afcb157c9883efffffffffffffffffffffffffffffffffffffffffff6f7faf8fcffc78e3ef7af50fbb459fbb057f9ab52d18632e5ded5fffffffffffffffffffffffffffffffffffffffffffffffffffffffbffffd5b793d49f60d59d5dd2ab81f0efedffffffffffffffffffffffff</ImageData>
	</ImageDatas>
	<Project ProjectGUID="{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}" Target64Bit="true" ShowHideConfigurations="#x106">
		<System>
			<Tasks>
				<Task Id="5" Priority="20" CycleTime="100000" AmsPort="350">
					<Name>PlcTask</Name>
				</Task>
			</Tasks>
		</System>
		<Motion>
			<NC>
				<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
					<Name>NC-Task 1 SAF</Name>
					<Vars VarGrpType="1" InsertType="1">
						<Name>Inputs</Name>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
					</Vars>
					<Image Id="1" AddrType="1" ImageType="1">
						<Name>Image</Name>
					</Image>
				</SafTask>
				<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
					<Name>NC-Task 1 SVB</Name>
				</SvbTask>
				<Axis CreateSymbols="true" AxisType="1" Id="1">
					<Name>Axis 1</Name>
					<AxisPara>
						<Dynamic AccelerationMaximum="150000" DecelerationMaximum="150000" Acceleration="5566" Deceleration="5566" Jerk="5566"/>
						<Velo SlowManual="50000" FastManual="150000" Maximum="150000"/>
						<PositionAreaControl Enable="false" RefSearch="false"/>
						<TargetPosControl Enable="false"/>
						<OtherSettings AllowMotionCmdToSlave="true"/>
					</AxisPara>
					<Encoder Name="Enc" EncType="19">
						<EncPara ScaleFactorNumerator="1" MaxCount="#xffffffff"/>
						<Vars VarGrpType="1">
							<Name>Inputs</Name>
							<Var>
								<Name>In</Name>
								<Type GUID="{3B4978B1-9ADE-48F4-B2A7-1323BC4A0651}" Namespace="MC">NCENCODERSTRUCT_IN2</Type>
								<BitOffs>1024</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn2</Name>
								</SubVar>
								<SubVar>
									<Name>nState4</Name>
									<Comment>
										<![CDATA[Encoder Status 4 (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]>
									</Comment>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn6</Name>
								</SubVar>
							</Var>
						</Vars>
						<Vars VarGrpType="2">
							<Name>Outputs</Name>
							<Var>
								<Name>Out</Name>
								<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
								<BitOffs>2048</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut2</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut6</Name>
								</SubVar>
							</Var>
						</Vars>
					</Encoder>
					<Drive Name="Drive" DrvType="16">
						<DrvPara MaxCount="#xffffffff">
							<Analog VeloReferenz="150000"/>
							<TimeComp TaskDelayCycles="1"/>
						</DrvPara>
						<Vars VarGrpType="1">
							<Name>Inputs</Name>
							<Var>
								<Name>In</Name>
								<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
								<BitOffs>1344</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn2</Name>
								</SubVar>
								<SubVar>
									<Name>nState4</Name>
									<Comment>
										<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')

Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
									</Comment>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataIn6</Name>
								</SubVar>
							</Var>
						</Vars>
						<Vars VarGrpType="2">
							<Name>Outputs</Name>
							<Var>
								<Name>Out</Name>
								<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
								<BitOffs>2368</BitOffs>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut1</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut2</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut3</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut4</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut5</Name>
								</SubVar>
								<SubVar TypeFormatIndex="2">
									<Name>nDataOut6</Name>
								</SubVar>
							</Var>
						</Vars>
					</Drive>
					<Controller Name="Ctrl" CtrType="1">
						<CtrPara PriorControlFactor="1">
							<PosDiffControl Enable="false"/>
							<Observer BandWidth="20"/>
						</CtrPara>
					</Controller>
					<Vars VarGrpType="1" InsertType="1">
						<Name>Inputs</Name>
						<Var>
							<Name>FromPlc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
					</Vars>
					<Vars VarGrpType="2" InsertType="1">
						<Name>Outputs</Name>
						<Var>
							<Name>ToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<SubVar>
								<Name>AxisState</Name>
								<Comment>
									<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>HomingState</Name>
								<Comment>
									<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>CoupleState</Name>
								<Comment>
									<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
								</Comment>
							</SubVar>
						</Var>
					</Vars>
				</Axis>
			</NC>
		</Motion>
		<Plc>
			<Project GUID="{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}" Name="ZeroTorque" PrjFilePath="ZeroTorque\ZeroTorque.plcproj" TmcFilePath="ZeroTorque\ZeroTorque.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e">
				<Instance Id="#x01010010" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
					<Name>ZeroTorque Instance</Name>
					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
					<Vars VarGrpType="1">
						<Name>PlcTask Inputs</Name>
						<Var>
							<Name>MAIN.axis1.NcToPlc</Name>
							<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
							<SubVar>
								<Name>AxisState</Name>
								<Comment>
									<![CDATA[Present State Of The Axis Movement (continuous axis):
0  = INACTIVE:		axis has no job
1  = RUNNING:		axis is executing a motion job
2  = OVERRIDE_ZERO:	axis is executing a job but override is zero
3  = PHASE_VELOCONST:	axis is moving at constant velocity
4  = PHASE_ACCPOS:	axis is accelerating
5  = PHASE_ACCNEG:	axis is decelerating
Slaves only:
11 = PREPHASE:		slave axis is in a motion pre-phase
12 = SYNCHRONIZING:	slave axis is synchronizing
13 = SYNCHRONOUS:	slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1:	external setpoint generation active
42 = EXTSETGEN_MODE2:	internal and external setpoint gen. active
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>HomingState</Name>
								<Comment>
									<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
								</Comment>
							</SubVar>
							<SubVar>
								<Name>CoupleState</Name>
								<Comment>
									<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
								</Comment>
							</SubVar>
						</Var>
						<Var>
							<Name>GVL.ActTorque</Name>
							<Type>INT</Type>
						</Var>
						<Var>
							<Name>GVL.DualPosDiff</Name>
							<Comment>
								<![CDATA[--- Triansmit PDO ---]]>
							</Comment>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.actVelo</Name>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.loadPos</Name>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.motorPos</Name>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.actPosition</Name>
							<Type>DINT</Type>
						</Var>
					</Vars>
					<Vars VarGrpType="2">
						<Name>PlcTask Outputs</Name>
						<Var>
							<Name>MAIN.axis1.PlcToNc</Name>
							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
						</Var>
						<Var>
							<Name>GVL.targetTor</Name>
							<Comment>
								<![CDATA[--- Receive PDO ---]]>
							</Comment>
							<Type>INT</Type>
						</Var>
						<Var>
							<Name>GVL.uiCtrl</Name>
							<Type>UINT</Type>
						</Var>
						<Var>
							<Name>GVL.targetVelo</Name>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.targetPos</Name>
							<Type>DINT</Type>
						</Var>
						<Var>
							<Name>GVL.siOperationMode</Name>
							<Type>SINT</Type>
						</Var>
						<Var>
							<Name>GVL.udiProVelo</Name>
							<Type>UDINT</Type>
						</Var>
						<Var>
							<Name>GVL.udiProAcc</Name>
							<Type>UDINT</Type>
						</Var>
						<Var>
							<Name>GVL.udiProDec</Name>
							<Type>UDINT</Type>
						</Var>
					</Vars>
					<TaskPouOids>
						<TaskPouOid Prio="20" OTCID="#x01010011"/>
					</TaskPouOids>
				</Instance>
			</Project>
		</Plc>
		<Io>
			<Device DevType="111" DevFlags="#x0003" AmsPort="28675" AmsNetId="172.18.138.230.4.1" RemoteName="Device 3 (EtherCAT)" Id="3">
				<Name>Device 3 (EtherCAT)</Name>
				<AddressInfo>
					<Pnp>
						<DeviceDesc>Local Area Connection 2 (TwinCAT-Intel PCI Ethernet</DeviceDesc>
						<DeviceName>\DEVICE\{18280C8F-D2D6-4D82-AA13-9EA29A01D8E9}</DeviceName>
						<DeviceData>0400a82333e1</DeviceData>
					</Pnp>
				</AddressInfo>
				<Image Id="2" AddrType="9" ImageType="3">
					<Name>Image</Name>
				</Image>
				<Box BoxType="9099" Id="1">
					<Name>Drive 1 (ZeroErr Driver)</Name>
					<ImageId>1000</ImageId>
					<EtherCAT SlaveType="2" PdiType="#x0e8d" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="47" FoeType="1" VendorId="#x5a65726f" ProductCode="#x00029252" RevisionNo="#x00000001" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutStateChange1="2000" TimeoutStateChange2="9000" TimeoutMailbox1="1000" TimeoutMailbox2="20000" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="ZeroErr Driver" Desc="ZeroErr Driver" PortABoxInfo="#x00ffffff">
						<SyncMan>001080002600010001000000220080008000001026010000</SyncMan>
						<SyncMan>801080002200010002000000220080008000801022010000</SyncMan>
						<SyncMan>00111e006400010003000000000000000a00001164010000</SyncMan>
						<SyncMan>00141a002000010004000000000000000a00001420010000</SyncMan>
						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
						<Fmmu>0000000000000000001400010100000002000000000000000000000000000000</Fmmu>
						<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
						<BootStrapData>00104c0080104c00</BootStrapData>
						<DcData>0003000000000000000000000000000001000000000000000000000000000000</DcData>
						<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<DcMode>53796e6368726f6e0000000000000000534d2d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
						<Pdo Name="Transmit PDO mapping 0" Index="#x1a00" Flags="#x0000" SyncMan="3">
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Error code" Index="#x603f">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Actual velocity" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Dual encoder difference value" Index="#x2241">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position actual value_1" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Current Actual Value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 1" Index="#x1a01" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity demand value" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 2" Index="#x1a02" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy byte">
								<Type>USINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 3" Index="#x1a03" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a04</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 4" Index="#x1a04" Flags="#x0010">
							<ExcludePdo>#x1a00</ExcludePdo>
							<ExcludePdo>#x1a01</ExcludePdo>
							<ExcludePdo>#x1a02</ExcludePdo>
							<ExcludePdo>#x1a03</ExcludePdo>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Position Following error actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy byte">
								<Type>USINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 5" Index="#x1a05" Flags="#x0010">
							<Entry Name="Error code" Index="#x603f">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Statusword" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Following error actual value" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Modes of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy byte">
								<Type>USINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 6" Index="#x1a06" Flags="#x0010">
							<Entry Name="Error code" Index="#x603f">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Statusword" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Modes of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy byte">
								<Type>USINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 7" Index="#x1a07" Flags="#x0010">
							<Entry Name="Auxiliary Position Actual Value" Index="#x20a0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 8" Index="#x1a08" Flags="#x0010">
							<Entry Name="Warning Code" Index="#x3b68">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Actual Torque" Index="#x3b69">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Actual Torque Ratio" Index="#x3b6a">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 10" Index="#x1a0a" Flags="#x0010">
							<Entry Name="Status word" Index="#x6041">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 11" Index="#x1a0b" Flags="#x0010">
							<Entry Name="Mode of operation display" Index="#x6061">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 12" Index="#x1a0c" Flags="#x0010">
							<Entry Name="Position Demand [UU]" Index="#x6062">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 13" Index="#x1a0d" Flags="#x0010">
							<Entry Name="Actual position [counts]" Index="#x6063">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 14" Index="#x1a0e" Flags="#x0010">
							<Entry Name="Position actual value" Index="#x6064">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 15" Index="#x1a0f" Flags="#x0010">
							<Entry Name="Velocity sensor actual value [counts/sec]" Index="#x6069">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 16" Index="#x1a10" Flags="#x0010">
							<Entry Name="Velocity demand [cnt/sec]" Index="#x606b">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 17" Index="#x1a11" Flags="#x0010">
							<Entry Name="Velocity actual value" Index="#x606c">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 18" Index="#x1a12" Flags="#x0010">
							<Entry Name="Torque demand value" Index="#x6074">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 19" Index="#x1a13" Flags="#x0010">
							<Entry Name="Torque actual value" Index="#x6077">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 24" Index="#x1a18" Flags="#x0010">
							<Entry Name="DC link circuit voltage" Index="#x6079">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 25" Index="#x1a19" Flags="#x0010">
							<Entry Name="Position Following error" Index="#x60f4">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 27" Index="#x1a1b" Flags="#x0010">
							<Entry Name="Position Demand Value [cnt]" Index="#x60fc">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 28" Index="#x1a1c" Flags="#x0010">
							<Entry Name="Digital Inputs" Index="#x60fd">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Transmit PDO mapping 31" Index="#x1a1f" Flags="#x0010">
							<Entry Name="Current actual value" Index="#x6078">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 0" Index="#x1600" InOut="1" Flags="#x0000" SyncMan="2">
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Modes of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Profile velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Profile acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Profile deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 1" Index="#x1601" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 2" Index="#x1602" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 3" Index="#x1603" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 4" Index="#x1604" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 5" Index="#x1605" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1606</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 6" Index="#x1606" InOut="1" Flags="#x0010">
							<ExcludePdo>#x1600</ExcludePdo>
							<ExcludePdo>#x1601</ExcludePdo>
							<ExcludePdo>#x1602</ExcludePdo>
							<ExcludePdo>#x1603</ExcludePdo>
							<ExcludePdo>#x1604</ExcludePdo>
							<ExcludePdo>#x1605</ExcludePdo>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Digital Outputs" Index="#x60fe">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 7" Index="#x1607" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy">
								<Type>SINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 8" Index="#x1608" InOut="1" Flags="#x0010">
							<Entry Name="Controlword" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Target torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
							<Entry Name="Target position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Max motor speed" Index="#x6080">
								<Type>UDINT</Type>
							</Entry>
							<Entry Name="Target velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Modes of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry Name="Dummy byte">
								<Type>USINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 9" Index="#x1609" InOut="1" Flags="#x0010">
							<Entry Name="Controlword" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Max torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
							<Entry Name="Target position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Target velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
							<Entry Name="Modes of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 10" Index="#x160a" InOut="1" Flags="#x0010">
							<Entry Name="Control word" Index="#x6040">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 11" Index="#x160b" InOut="1" Flags="#x0010">
							<Entry Name="Mode of operation" Index="#x6060">
								<Type>SINT</Type>
							</Entry>
							<Entry>
								<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 12" Index="#x160c" InOut="1" Flags="#x0010">
							<Entry Name="Target Torque" Index="#x6071">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 13" Index="#x160d" InOut="1" Flags="#x0010">
							<Entry Name="Max. Torque" Index="#x6072">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 14" Index="#x160e" InOut="1" Flags="#x0010">
							<Entry Name="Max. Current" Index="#x6073">
								<Type>UINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 15" Index="#x160f" InOut="1" Flags="#x0010">
							<Entry Name="Target Position" Index="#x607a">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 17" Index="#x1611" InOut="1" Flags="#x0010">
							<Entry Name="Profile Velocity" Index="#x6081">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 18" Index="#x1612" InOut="1" Flags="#x0010">
							<Entry Name="End velocity" Index="#x6082">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 19" Index="#x1613" InOut="1" Flags="#x0010">
							<Entry Name="Profile Acceleration" Index="#x6083">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 20" Index="#x1614" InOut="1" Flags="#x0010">
							<Entry Name="Profile Deceleration" Index="#x6084">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 21" Index="#x1615" InOut="1" Flags="#x0010">
							<Entry Name="Torque Slope" Index="#x6087">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 22" Index="#x1616" InOut="1" Flags="#x0010">
							<Entry Name="Position Offset" Index="#x60b0">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 23" Index="#x1617" InOut="1" Flags="#x0010">
							<Entry Name="Velocity Offset" Index="#x60b1">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 24" Index="#x1618" InOut="1" Flags="#x0010">
							<Entry Name="Torque Offset" Index="#x60b2">
								<Type>INT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 25" Index="#x161c" InOut="1" Flags="#x0010">
							<Entry Name="Target Velocity" Index="#x60ff">
								<Type>DINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 26" Index="#x161d" InOut="1" Flags="#x0010">
							<Entry Name="Digital Outputs" Index="#x60fe">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<Pdo Name="Receive PDO mapping 27" Index="#x161f" InOut="1" Flags="#x0010">
							<Entry Name="Quick stop deceleration" Index="#x6085">
								<Type>UDINT</Type>
							</Entry>
						</Pdo>
						<CoeProfile ProfileNo="402"/>
					</EtherCAT>
				</Box>
				<EtherCAT DeviceDesc="Local Area Connection 2 (TwinCAT-Intel PCI Ethernet" DcSyncMode="3"/>
			</Device>
		</Io>
	</Project>
	<Mappings>
		<MappingInfo Identifier="{01010011-0020-0304-1000-010120000403}" Id="#x02030030" Watchdog="00000000000000000000000000000000"/>
		<MappingInfo Identifier="{05000010-0011-0101-1000-040310000101}" Id="#x02030040" Watchdog="14000000040000000400000004000000"/>
		<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030020"/>
		<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 1 (ZeroErr Driver)">
				<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
				<Link VarA="Drive^Inputs^In^nState1" VarB="Transmit PDO mapping 0^Status word"/>
				<Link VarA="Drive^Inputs^In^nState2" VarB="Transmit PDO mapping 0^Status word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
				<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="Receive PDO mapping 0^Control word"/>
				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="Receive PDO mapping 0^Control word" Size="8" OffsB="8"/>
				<Link VarA="Drive^Outputs^Out^nDataOut1" VarB="Receive PDO mapping 0^Target Position"/>
				<Link VarA="Enc^Inputs^In^nDataIn1" VarB="Transmit PDO mapping 0^Position actual value"/>
				<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
			</OwnerB>
		</OwnerA>
		<OwnerA Name="TIPC^ZeroTorque^ZeroTorque Instance">
			<OwnerB Name="TIID^Device 3 (EtherCAT)^Drive 1 (ZeroErr Driver)">
				<Link VarA="PlcTask Inputs^GVL.ActTorque" VarB="Transmit PDO mapping 0^Current Actual Value"/>
				<Link VarA="PlcTask Inputs^GVL.DualPosDiff" VarB="Transmit PDO mapping 0^Dual encoder difference value"/>
				<Link VarA="PlcTask Inputs^GVL.actPosition" VarB="Transmit PDO mapping 0^Position actual value_1"/>
				<Link VarA="PlcTask Inputs^GVL.actVelo" VarB="Transmit PDO mapping 0^Actual velocity"/>
				<Link VarA="PlcTask Outputs^GVL.siOperationMode" VarB="Receive PDO mapping 0^Modes of operation"/>
				<Link VarA="PlcTask Outputs^GVL.targetTor" VarB="Receive PDO mapping 0^Target Torque"/>
				<Link VarA="PlcTask Outputs^GVL.targetVelo" VarB="Receive PDO mapping 0^Target Velocity"/>
				<Link VarA="PlcTask Outputs^GVL.udiProAcc" VarB="Receive PDO mapping 0^Profile acceleration"/>
				<Link VarA="PlcTask Outputs^GVL.udiProDec" VarB="Receive PDO mapping 0^Profile deceleration"/>
				<Link VarA="PlcTask Outputs^GVL.udiProVelo" VarB="Receive PDO mapping 0^Profile velocity"/>
			</OwnerB>
			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
				<Link VarA="PlcTask Inputs^MAIN.axis1.NcToPlc" VarB="Outputs^ToPlc"/>
				<Link VarA="PlcTask Outputs^MAIN.axis1.PlcToNc" VarB="Inputs^FromPlc"/>
			</OwnerB>
		</OwnerA>
	</Mappings>
</TcSmProject>
