<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.56" ClassName="CDevEL6751Def" SubType="87">
	<DataTypes>
		<DataType>
			<Name GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}" IecBaseType="true" AutoDeleteType="true">ARRAY [0..7] OF BYTE</Name>
			<BitSize>64</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>8</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{5EB5E367-1EF9-EEEF-7EB8-1D2E0B050A19}" IecBaseType="true" AutoDeleteType="true">ARRAY [0..1] OF BYTE</Name>
			<BitSize>16</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>2</Elements>
			</ArrayInfo>
		</DataType>
		<DataType>
			<Name GUID="{527C5C5C-1CF8-1963-ACDC-85B7B3E5B586}" IecBaseType="true" AutoDeleteType="true">ARRAY [0..3] OF BYTE</Name>
			<BitSize>32</BitSize>
			<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
			<ArrayInfo>
				<LBound>0</LBound>
				<Elements>4</Elements>
			</ArrayInfo>
		</DataType>
	</DataTypes>
	<Device Id="9" DevType="87" AmsPort="28681" AmsNetId="134.37.168.167.10.1" RemoteName="OHC Can(EL6751)">
		<Name>__FILENAME__</Name>
		<AddressInfo>
			<Ecat>
				<EtherCATDeviceId>151</EtherCATDeviceId>
				<EtherCATDeviceName>TIID^X3 Handling^B21_KF2.0_OHC^B21_KF2.24_EL6751</EtherCATDeviceName>
			</Ecat>
		</AddressInfo>
		<Image Id="12" AddrType="4" ImageType="3">
			<Name>Image</Name>
		</Image>
		<Box Id="69" BoxType="5003">
			<Name>A20_OHC RadioPanel</Name>
			<ImageId>41</ImageId>
			<Vars VarGrpType="1">
				<Name>Inputs</Name>
				<Var BoxStateVariable="true">
					<Name>NodeState</Name>
					<Comment><![CDATA[Master- and Slave-Mode:
   0 = No error

Master-Mode:
   1 = Node deactivated
   2 = Node not found
   4 = SDO syntax error at StartUp
   5 = SDO data mismatch at StartUp
   8 = Node StartUp in progress
  11 = CAN-Controller is Bus-OFF
  12 = Pre-Operational
  13 = Server bus fault
  14 = Guarding: toggle error
  20 = TxPDO too short
  22 = Expected TxPDO is missing
  23 = Node is Operational but not all TxPDOs were received
  31 = only for EtherCAT gateways: WC-State of cyclic EtherCAT frame is 1
  +64 = startup of slave is finished 

Slave-Mode:
 128 = Node is Operational but not all RxPDOs were received
 129 = Node is Pre-Operational
 130 = Node is Stopped
]]></Comment>
					<Type>USINT</Type>
					<BitOffs>240</BitOffs>
				</Var>
				<Var BoxStateVariable="true">
					<Name>DiagFlag</Name>
					<Comment><![CDATA[0 = Diagnosis Data unchanged
1 = Diagnosis Data changed, use ADS-Read to get the data]]></Comment>
					<Type>BIT</Type>
					<BitOffs>297</BitOffs>
				</Var>
			</Vars>
			<Vars VarGrpType="2">
				<Name>Outputs</Name>
			</Vars>
			<CanOpen NodeId="2" BaudSupport="511" FixedSdos="16" GenerateFixedSdos="true" DvFlag_Active="true" CobIDEmcy="130" CobIDGuard="1794" GuardTime="100" LifeTime="3">
				<Sdo Index="6144" SubIndex="1" Length="4" Value="386"/>
				<Sdo Index="6144" SubIndex="2" Length="1" Value="254"/>
				<Sdo Index="6145" SubIndex="1" Length="4" Value="642"/>
				<Sdo Index="6145" SubIndex="2" Length="1" Value="254"/>
				<Sdo Index="6146" SubIndex="1" Length="4" Value="898"/>
				<Sdo Index="6146" SubIndex="2" Length="1" Value="254"/>
				<Sdo Index="6147" SubIndex="1" Length="4" Value="1154"/>
				<Sdo Index="6147" SubIndex="2" Length="1" Value="254"/>
				<Sdo Index="5120" SubIndex="1" Length="4" Value="514"/>
				<Sdo Index="5120" SubIndex="2" Length="1" Value="255"/>
				<Sdo Index="5121" SubIndex="1" Length="4" Value="770"/>
				<Sdo Index="5121" SubIndex="2" Length="1" Value="255"/>
				<Sdo Index="5122" SubIndex="1" Length="4" Value="1026"/>
				<Sdo Index="5122" SubIndex="2" Length="1" Value="255"/>
				<Sdo Index="5123" SubIndex="1" Length="4" Value="1282"/>
				<Sdo Index="5123" SubIndex="2" Length="1" Value="255"/>
				<TxPdo TX="true" CobId="386" TransType="254" Flags="3">
					<Name>TxPDO 0</Name>
					<ImageId>82</ImageId>
					<Vars VarGrpType="1" InsertType="2">
						<Name>Inputs</Name>
						<Var>
							<Name>read</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
						</Var>
					</Vars>
				</TxPdo>
				<TxPdo TX="true" CobId="642" TransType="254" Flags="3" PdoStartAddress="8">
					<Name>TxPDO 1</Name>
					<ImageId>82</ImageId>
					<Vars VarGrpType="1" InsertType="2">
						<Name>Inputs</Name>
						<Var>
							<Name>read</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
							<BitOffs>64</BitOffs>
						</Var>
					</Vars>
				</TxPdo>
				<TxPdo TX="true" CobId="898" TransType="254" Flags="3" PdoStartAddress="16">
					<Name>TxPDO 2</Name>
					<ImageId>82</ImageId>
					<Vars VarGrpType="1" InsertType="2">
						<Name>Inputs</Name>
						<Var>
							<Name>read</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
							<BitOffs>128</BitOffs>
						</Var>
					</Vars>
				</TxPdo>
				<TxPdo TX="true" CobId="1154" TransType="254" Flags="3" PdoStartAddress="24">
					<Name>TxPDO 3</Name>
					<ImageId>82</ImageId>
					<Vars VarGrpType="1" InsertType="2">
						<Name>Inputs</Name>
						<Var>
							<Name>read</Name>
							<Type GUID="{5EB5E367-1EF9-EEEF-7EB8-1D2E0B050A19}">ARRAY [0..1] OF BYTE</Type>
							<BitOffs>192</BitOffs>
						</Var>
					</Vars>
				</TxPdo>
				<RxPdo CobId="514" TransType="255" Flags="3">
					<Name>RxPDO 0</Name>
					<ImageId>42</ImageId>
					<Vars VarGrpType="2" InsertType="2">
						<Name>Outputs</Name>
						<Var>
							<Name>write</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
						</Var>
					</Vars>
				</RxPdo>
				<RxPdo CobId="770" TransType="255" Flags="3" PdoStartAddress="8">
					<Name>RxPDO 1</Name>
					<ImageId>42</ImageId>
					<Vars VarGrpType="2" InsertType="2">
						<Name>Outputs</Name>
						<Var>
							<Name>write</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
							<BitOffs>64</BitOffs>
						</Var>
					</Vars>
				</RxPdo>
				<RxPdo CobId="1026" TransType="255" Flags="3" PdoStartAddress="16">
					<Name>RxPDO 2</Name>
					<ImageId>42</ImageId>
					<Vars VarGrpType="2" InsertType="2">
						<Name>Outputs</Name>
						<Var>
							<Name>write</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
							<BitOffs>128</BitOffs>
						</Var>
					</Vars>
				</RxPdo>
				<RxPdo CobId="1282" TransType="255" Flags="3" PdoStartAddress="24">
					<Name>RxPDO 3</Name>
					<ImageId>42</ImageId>
					<Vars VarGrpType="2" InsertType="2">
						<Name>Outputs</Name>
						<Var>
							<Name>write</Name>
							<Type GUID="{DB0A8CBC-36BB-7A31-D5D7-AC40F3D4FEBD}">ARRAY [0..7] OF BYTE</Type>
							<BitOffs>192</BitOffs>
						</Var>
					</Vars>
				</RxPdo>
			</CanOpen>
		</Box>
		<Box Id="70" BoxType="5003">
			<Name>B4_OHC Bullet winch Encoder</Name>
			<ImageId>41</ImageId>
			<Vars VarGrpType="1">
				<Name>Inputs</Name>
				<Var BoxStateVariable="true">
					<Name>NodeState</Name>
					<Comment><![CDATA[Master- and Slave-Mode:
   0 = No error

Master-Mode:
   1 = Node deactivated
   2 = Node not found
   4 = SDO syntax error at StartUp
   5 = SDO data mismatch at StartUp
   8 = Node StartUp in progress
  11 = CAN-Controller is Bus-OFF
  12 = Pre-Operational
  13 = Server bus fault
  14 = Guarding: toggle error
  20 = TxPDO too short
  22 = Expected TxPDO is missing
  23 = Node is Operational but not all TxPDOs were received
  31 = only for EtherCAT gateways: WC-State of cyclic EtherCAT frame is 1
  +64 = startup of slave is finished 

Slave-Mode:
 128 = Node is Operational but not all RxPDOs were received
 129 = Node is Pre-Operational
 130 = Node is Stopped
]]></Comment>
					<Type>USINT</Type>
					<BitOffs>248</BitOffs>
				</Var>
				<Var BoxStateVariable="true">
					<Name>DiagFlag</Name>
					<Comment><![CDATA[0 = Diagnosis Data unchanged
1 = Diagnosis Data changed, use ADS-Read to get the data]]></Comment>
					<Type>BIT</Type>
					<BitOffs>298</BitOffs>
				</Var>
			</Vars>
			<Vars VarGrpType="2">
				<Name>Outputs</Name>
			</Vars>
			<CanOpen NodeId="3" BaudSupport="511" FixedSdos="2" GenerateFixedSdos="true" DvFlag_Active="true" CobIDEmcy="131" CobIDGuard="1795" GuardTime="100" LifeTime="3">
				<Sdo Index="6144" SubIndex="1" Length="4" Value="387"/>
				<Sdo Index="6144" SubIndex="2" Length="1" Value="254"/>
				<TxPdo TX="true" CobId="387" TransType="254" Flags="3" PdoStartAddress="26">
					<Name>TxPDO 0</Name>
					<ImageId>82</ImageId>
					<Vars VarGrpType="1" InsertType="2">
						<Name>Inputs</Name>
						<Var>
							<Name>read</Name>
							<Type GUID="{527C5C5C-1CF8-1963-ACDC-85B7B3E5B586}">ARRAY [0..3] OF BYTE</Type>
							<BitOffs>208</BitOffs>
						</Var>
					</Vars>
				</TxPdo>
			</CanOpen>
		</Box>
		<CanOpen>
			<Fcxxxx>
				<DevSettings BusyIntEnabled="true" DisableSlots="true" NetId="8625a8a70a01" EquiCycleTime="100000" FifoSize="10" CycleDivider="1"/>
				<DevParameter CycleTime="100000" InputShift="60"/>
				<EquiParameter RelationShiftCycle="0"/>
			</Fcxxxx>
			<BusParameter NodeId="1" Baudrate="3" CobIdSync="128" TxPdoWindowSize="30" CycleDivider="1" MaxLoPrioQueue="100" Bt0="1" Bt1="28" TimerTick="4" BusActiveDivider="125" TxBusyTime="2000" TimeIntegral="4000" WdTimeoutInCycleTime="100000"/>
		</CanOpen>
	</Device>
</TcSmItem>
