add EPOS config
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<?xml version="1.0"?><EPOS-Studio File="EPOS Studio.exe" Version="3.7.1.0">
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<Container>
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<Project>
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<Name>EPOS4 SS2_2023_Propulsion_V1</Name>
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<ProjectSettings>
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<RefreshRate>500</RefreshRate>
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</ProjectSettings>
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<NetworkTopology>
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<NetworkHost>
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<Name>LocalHost</Name>
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<CommDriverItem>
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<Name>USB</Name>
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<CLSID>676F8FBA-4A05-401E-BF12-032E13726F6B</CLSID>
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<SystemTag>B6B3AB64-3321-46d1-BFE3-F9155A6D1E69</SystemTag>
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<NetworkFdtChannelItem>
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<Name>USB0</Name>
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<DeviceItem>
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<Name>EPOS4 CAN</Name>
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<CLSID>F44CB9AF-4ABE-48C4-9A96-A39FA5777DC7</CLSID>
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<SystemTag>537B707D-8114-4e6d-BA72-1296EF36A841</SystemTag>
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<NetworkFdtChannelItem>
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<Name>EXT1</Name>
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</NetworkFdtChannelItem>
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<NetworkFdtChannelItem>
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<Name>EXT2</Name>
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</NetworkFdtChannelItem>
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<NetworkFdtChannelItem>
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<Name>CAN</Name>
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</NetworkFdtChannelItem>
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</DeviceItem>
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</NetworkFdtChannelItem>
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</CommDriverItem>
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</NetworkHost>
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</NetworkTopology>
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<WindowInformation>
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<ControlWindow>
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<Name>Cyclic Sync Torque Mode - EPOS4 CAN [Node 1]</Name>
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<SystemTag>537B707D-8114-4e6d-BA72-1296EF36A841</SystemTag>
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<FunctionId>67108864</FunctionId>
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<InvokeId>E31F10B9-06E5-4505-975D-257852138F39</InvokeId>
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<Position>
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<XPosition>-8</XPosition>
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<YPosition>-31</YPosition>
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<Width>1666</Width>
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<Height>788</Height>
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</Position>
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</ControlWindow>
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</WindowInformation>
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</Project>
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</Container>
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<Dtm>
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<Name>USB</Name>
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<SystemTag>B6B3AB64-3321-46d1-BFE3-F9155A6D1E69</SystemTag>
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<Configuration file="DtmUsb.dll" version="2.10.1.0">
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<DeviceType>
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<VersionInformation>
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<Name>USB</Name>
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<Vendor>maxon motor ag</Vendor>
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<Version>0001h</Version>
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</VersionInformation>
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</DeviceType>
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<DeviceTypeSettings>
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<Parameters>
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<Name>USB</Name>
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</Parameters>
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<Channel name="USB0">
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<Enabled>1</Enabled>
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<ChannelType>UNDEFINED</ChannelType>
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<Parameters>
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<Name/>
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<ProtocolStack>MAXON SERIAL V2</ProtocolStack>
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<Interface>USB</Interface>
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<Port>USB0</Port>
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<Baudrate>1000000</Baudrate>
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<Timeout>500</Timeout>
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</Parameters>
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<NetworkScanning>
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<ScanningSetting>
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<ProtocolStack>All</ProtocolStack>
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<Interface>All</Interface>
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<Port>All</Port>
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<TransferRateDetection>Standard</TransferRateDetection>
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<TransferRate>1000000</TransferRate>
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<NumberOfDevicesInNetwork>1</NumberOfDevicesInNetwork>
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</ScanningSetting>
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</NetworkScanning>
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</Channel>
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</DeviceTypeSettings>
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<Controls/>
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</Configuration>
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</Dtm>
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<Dtm>
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<Name>EPOS4 CAN</Name>
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<SystemTag>537B707D-8114-4e6d-BA72-1296EF36A841</SystemTag>
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<Configuration file="DtmEpos4.dll" version="3.7.1.0">
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<DeviceType>
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<VersionInformation>
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<Name>EPOS4</Name>
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<Vendor>maxon motor ag</Vendor>
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<Version>0001h</Version>
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</VersionInformation>
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</DeviceType>
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<DeviceTypeSettings>
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<FieldbusMode>
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<ActiveMode>
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<ModeId>1</ModeId>
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<CommunicationTypeLabel>CAN</CommunicationTypeLabel>
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</ActiveMode>
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</FieldbusMode>
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<ControllerType>
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<ActiveType>
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<TypeId>1</TypeId>
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<ControllerTypeLabel>Positioning</ControllerTypeLabel>
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</ActiveType>
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</ControllerType>
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<Parameters>
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<Name>EPOS4 CAN</Name>
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<VendorId>251</VendorId>
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<NodeId>1</NodeId>
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</Parameters>
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<Controller>
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<Axis>
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<Name>Axis</Name>
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<recorderConfigurationList>
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<selectedConfiguration/>
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<recorderConfiguration uniqueID="REC_CUSTOM_RECORDER">
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<name>Custom</name>
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<description>Configuration customizable by user</description>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderVariable1Idx"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderVariable2Idx"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderVariable3Idx"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderVariable4Idx"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderTriggerVariableIdx"/>
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<valueEntry>
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<value>0x60410000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderTriggerMode"/>
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<enumEntryIDRef uniqueIDRef="RTM_RISING_EDGE"/>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderTriggerHighValue"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderTriggerLowValue"/>
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<valueEntry>
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<value>0x00000000</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderTriggerMask"/>
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<valueEntry>
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<value>0xFFFFFFFF</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderSamplingPeriod"/>
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<valueEntry>
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<value>120</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecorderPrecedingSamples"/>
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<valueEntry>
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<value>0</value>
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</valueEntry>
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</configurationValue>
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<configurationValue>
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<paramIDRef uniqueIDRef="PARAM_InternalRecoderMaxNrOfSamples"/>
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<valueEntry>
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<value>500</value>
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</valueEntry>
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</configurationValue>
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<acquisitionMode>singleTrigger</acquisitionMode>
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</recorderConfiguration>
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</recorderConfigurationList>
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</Axis>
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</Controller>
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<Channel Name="EXT1">
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<Enabled>1</Enabled>
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<ChannelType>SlotChannel</ChannelType>
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<Parameters/>
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</Channel>
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<Channel Name="EXT2">
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<Enabled>1</Enabled>
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<ChannelType>SlotChannel</ChannelType>
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<Parameters/>
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</Channel>
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<Channel Name="CAN">
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<Enabled>1</Enabled>
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<ChannelType>GatewayChannel</ChannelType>
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<Parameters/>
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<NetworkScanning>
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<ScanningSetting>
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<ProtocolStack>All</ProtocolStack>
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<Interface>All</Interface>
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<Port>All</Port>
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<TransferRateDetection>Standard</TransferRateDetection>
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<TransferRate>1000000</TransferRate>
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<TransferRate>800000</TransferRate>
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<TransferRate>500000</TransferRate>
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<TransferRate>250000</TransferRate>
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<TransferRate>125000</TransferRate>
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<TransferRate>50000</TransferRate>
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<TransferRate>20000</TransferRate>
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<NumberOfDevicesInNetwork>127</NumberOfDevicesInNetwork>
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</ScanningSetting>
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<CANopenStdScanningMethod>
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<Enabled>1</Enabled>
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<Range>
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<Enabled>1</Enabled>
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<Default>1</Default>
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<Name>Range</Name>
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<LowValue>1</LowValue>
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<HighValue>127</HighValue>
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</Range>
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</CANopenStdScanningMethod>
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</NetworkScanning>
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</Channel>
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</DeviceTypeSettings>
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<Controls>
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<Control>
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<InvokeId>E31F10B9-06E5-4505-975D-257852138F39</InvokeId>
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<FunctionId>67108864</FunctionId>
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<Configuration/>
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</Control>
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</Controls>
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</Configuration>
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</Dtm></EPOS-Studio>
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