Comments.
appTimePeriod must match the SERVO_CYCLE setting in the ini file. If you go for a SERVO_CYCLE of 2ms, change appTimePeriod to 2000000 as well.
The dcConf line says the Ethercat device is running its own loop at 1 ms, synchronized by ethercat"s own internal clock. Sync0Shift says when, inside that 1 ms, the sync event takes place. 1000000 means right at the end of that 1 ms.
