<masters>
  <master idx="0">
    <slave idx="0" type="basic_cia402" vid="0x00000a79" pid="0x00006000" name="D1">
      <!--OL57E-4A-->
      <modParam name="ciaChannels" value="4"/>
      <modParam name="ciaRxPDOEntryLimit" value="9"/>
      <modParam name="ciaTxPDOEntryLimit" value="9"/>
      <modParam name="ch1enablePP" value="true"/>
      <modParam name="ch1enablePV" value="true"/>
      <modParam name="ch1enableHM" value="true"/>
      <modParam name="ch1enableCSP" value="true"/>
      <modParam name="ch1enableActualFollowingError" value="true"/>
      <modParam name="ch1enableActualTorque" value="true"/>
      <modParam name="ch1enableDigitalInput" value="true"/>
      <modParam name="ch1digitalInChannels" value="16"/>
      <modParam name="ch1enableDigitalOutput" value="true"/>
      <modParam name="ch1digitalOutChannels" value="16"/>
      <modParam name="ch1enableErrorCode" value="true"/>
      <modParam name="ch1enableHomeAccel" value="true"/>
      <modParam name="ch1enablePolarity" value="true"/>
      <modParam name="ch1enablePositionDemand" value="true"/>
      <modParam name="ch1enableProbeStatus" value="true"/>
      <modParam name="ch1enableProfileAccel" value="true"/>
      <modParam name="ch1enableProfileDecel" value="true"/>
      <modParam name="ch1enableProfileVelocity" value="true"/>
      <modParam name="ch1enableVelocityDemand" value="true"/>
      <modParam name="ch2enablePP" value="true"/>
      <modParam name="ch2enablePV" value="true"/>
      <modParam name="ch2enableHM" value="true"/>
      <modParam name="ch2enableCSP" value="true"/>
      <modParam name="ch2enableActualFollowingError" value="true"/>
      <modParam name="ch2enableActualTorque" value="true"/>
      <modParam name="ch2enableDigitalInput" value="true"/>
      <modParam name="ch2digitalInChannels" value="16"/>
      <modParam name="ch2enableDigitalOutput" value="true"/>
      <modParam name="ch2digitalOutChannels" value="16"/>
      <modParam name="ch2enableErrorCode" value="true"/>
      <modParam name="ch2enableHomeAccel" value="true"/>
      <modParam name="ch2enablePolarity" value="true"/>
      <modParam name="ch2enablePositionDemand" value="true"/>
      <modParam name="ch2enableProbeStatus" value="true"/>
      <modParam name="ch2enableProfileAccel" value="true"/>
      <modParam name="ch2enableProfileDecel" value="true"/>
      <modParam name="ch2enableProfileVelocity" value="true"/>
      <modParam name="ch2enableVelocityDemand" value="true"/>
      <modParam name="ch3enablePP" value="true"/>
      <modParam name="ch3enablePV" value="true"/>
      <modParam name="ch3enableHM" value="true"/>
      <modParam name="ch3enableCSP" value="true"/>
      <modParam name="ch3enableActualFollowingError" value="true"/>
      <modParam name="ch3enableActualTorque" value="true"/>
      <modParam name="ch3enableDigitalInput" value="true"/>
      <modParam name="ch3digitalInChannels" value="16"/>
      <modParam name="ch3enableDigitalOutput" value="true"/>
      <modParam name="ch3digitalOutChannels" value="16"/>
      <modParam name="ch3enableErrorCode" value="true"/>
      <modParam name="ch3enableHomeAccel" value="true"/>
      <modParam name="ch3enablePolarity" value="true"/>
      <modParam name="ch3enablePositionDemand" value="true"/>
      <modParam name="ch3enableProbeStatus" value="true"/>
      <modParam name="ch3enableProfileAccel" value="true"/>
      <modParam name="ch3enableProfileDecel" value="true"/>
      <modParam name="ch3enableProfileVelocity" value="true"/>
      <modParam name="ch3enableVelocityDemand" value="true"/>
      <modParam name="ch4enablePP" value="true"/>
      <modParam name="ch4enablePV" value="true"/>
      <modParam name="ch4enableHM" value="true"/>
      <modParam name="ch4enableCSP" value="true"/>
      <modParam name="ch4enableActualFollowingError" value="true"/>
      <modParam name="ch4enableActualTorque" value="true"/>
      <modParam name="ch4enableDigitalInput" value="true"/>
      <modParam name="ch4digitalInChannels" value="16"/>
      <modParam name="ch4enableDigitalOutput" value="true"/>
      <modParam name="ch4digitalOutChannels" value="16"/>
      <modParam name="ch4enableErrorCode" value="true"/>
      <modParam name="ch4enableHomeAccel" value="true"/>
      <modParam name="ch4enablePolarity" value="true"/>
      <modParam name="ch4enablePositionDemand" value="true"/>
      <modParam name="ch4enableProbeStatus" value="true"/>
      <modParam name="ch4enableProfileAccel" value="true"/>
      <modParam name="ch4enableProfileDecel" value="true"/>
      <modParam name="ch4enableProfileVelocity" value="true"/>
      <modParam name="ch4enableVelocityDemand" value="true"/>
    </slave>
  </master>
</masters>
