<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
  <SoE>
    <InitCmds>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>d007</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>d007</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0200</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0200</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Logger message level]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>33072</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Logger message level]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>33072</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor and feedback connection check parameter]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32935</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>140014000000f4015a001e00000000000100000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Nominal main voltage]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32969</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fc08</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Main voltage positive tolerance range]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32970</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c800</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Main voltage negative tolerance range]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32971</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c800</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Power Management control word]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32972</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured safety option]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>34768</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32918</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e000e0000100000048656e6723414433362d3030313941462e305842493000000000000000000000000000000000000002003200030000000000000001000300000000000008000000000000e8030000e80300000000000000000000000000000000000000000000000000000100030000891854130000001800000001000100000000000000000000000000000002000000060043000100010008000400130001000c005500102705003300460090010500000001000000ff000100000000000000000000000000a600a600780000000000000000000000000000000000000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured drive type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32822</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>100022004158353230332d303030302d23232323</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured motor type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32821</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>10002200414d333032312d304333302d30303030</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>109</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>9c180000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor continuous stall current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>111</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2c060000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Maximum motor speed]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>113</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>401f0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Number of pole pairs]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32819</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0300</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor EMF]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32823</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c300</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor continuous stall torque]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32838</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2d00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Electrical commutation offset]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32825</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7869</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Electric motor model]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32834</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>08000800140500006c070000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Thermal motor model]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32830</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>08000800e001500064000100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Positive acceleration limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>136</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e960900</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Negative acceleration limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>137</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e960900</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor construction type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32818</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Thermal overload factor (motor winding)]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32836</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0400040064000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor warning temperature]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>201</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2003</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor shut down temperature]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>204</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7805</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Mechanical motor data]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32839</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004000b000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Time limitation for peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32820</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>b80b</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current controller settings]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>33219</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor data constraints]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32857</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>24002400028000003e0000003e000000c980000084030000fc080000000000000000000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current loop proportional gain 1]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>106</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>4402</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current control loop integral action time 1]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>107</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0500</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Max motor speed with max torque]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32824</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>32120000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured channel peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32860</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>580c0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured channel current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32861</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2c060000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Bipolar velocity limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>91</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>77021b08</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32770</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>3e00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32771</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7d00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity filter low pass time constant]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>33279</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>3200</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Position ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32772</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fa00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 gear numerator]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32920</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>01000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 gear denominator]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32921</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>01000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor temperature sensor type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32829</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity loop proportional gain]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>100</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e010000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity loop integral action time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>101</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>1800</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor winding: Dielectric strength]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32835</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c422</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 reference signal]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32922</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>080008000000000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32918</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e000e0000100000048656e6723414433362d3030313941462e305842493000000000000000000000000000000000000002003200050000000000000001000500000000000008000000000000e8030000e80300000000000000000000000000000000000000000000000000000100050000891854130000001800000001000100000000000000000000000000000002000000060043000100010008000400130001000c005500102705003300460090010500000001000000ff000100000000000000000000000000a600a600780000000000000000000000000000000000000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured drive type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32822</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>100022004158353230332d303030302d23232323</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured motor type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32821</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>10002200414d333032312d304333302d30303030</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>109</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>9c180000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor continuous stall current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>111</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2c060000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Maximum motor speed]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>113</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>401f0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Number of pole pairs]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32819</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0300</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor EMF]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32823</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c300</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor continuous stall torque]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32838</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2d00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Electrical commutation offset]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32825</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7869</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Electric motor model]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32834</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>08000800140500006c070000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Thermal motor model]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32830</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>08000800e001500064000100</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Positive acceleration limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>136</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e960900</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Negative acceleration limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>137</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e960900</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor construction type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32818</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Thermal overload factor (motor winding)]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32836</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0400040064000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor warning temperature]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>201</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2003</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor shut down temperature]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>204</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7805</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Mechanical motor data]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32839</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004000b000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Time limitation for peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32820</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>b80b</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current controller settings]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>33219</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor data constraints]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32857</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>24002400028000003e0000003e000000c980000084030000fc080000000000000000000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current loop proportional gain 1]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>106</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>4402</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current control loop integral action time 1]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>107</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0500</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Max motor speed with max torque]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32824</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>32120000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured channel peak current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32860</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>580c0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Configured channel current]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32861</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>2c060000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Bipolar velocity limit value]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>91</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>77021b08</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Current ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32770</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>3e00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32771</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>7d00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity filter low pass time constant]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>33279</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>3200</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Position ctrl cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32772</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fa00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 gear numerator]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32920</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>01000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 gear denominator]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32921</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>01000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor temperature sensor type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32829</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity loop proportional gain]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>100</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>5e010000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Velocity loop integral action time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>101</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>1800</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Motor winding: Dielectric strength]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32835</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>c422</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feedback 1 reference signal]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32922</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>080008000000000000000000</Data>
      </InitCmd>
    </InitCmds>
  </SoE>
</EtherCATMailbox>
