<masters>
   <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
	   <slave idx="0" type="generic" vid="00000766" pid="00000402" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
	  <syncManager idx="0" dir="out">
	  </syncManager>
	  <syncManager idx="1" dir="in">
	  </syncManager>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="6098" subIdx="00" bitLen="8"  halPin="home-mode" halType="u32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="home-hi-speed" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="home-lo-speed" halType="u32"/>
          <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="home-acc" halType="u32"/>
	  <pdoEntry idx="2005" subIdx="24" bitLen="16" halPin="home-timeout" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
	  <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          #<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
	</master>
</masters>
