<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" type="generic" vid="00000a79" pid="0x00006000" 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="0-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="0-opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="0-target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="0-target-velocity" halType="s32"/>
		</pdo>
		<pdo idx="1610">
          <pdoEntry idx="6840" subIdx="00" bitLen="16" halPin="1-controlword" halType="u32"/>
          <pdoEntry idx="6860" subIdx="00" bitLen="8"  halPin="1-opmode" halType="s32"/>
          <pdoEntry idx="687A" subIdx="00" bitLen="32" halPin="1-target-position" halType="s32"/>
          <pdoEntry idx="68FF" subIdx="00" bitLen="32" halPin="1-target-velocity" halType="s32"/>
        </pdo>
		<pdo idx="1620">
          <pdoEntry idx="7040" subIdx="00" bitLen="16" halPin="2-controlword" halType="u32"/>
          <pdoEntry idx="7060" subIdx="00" bitLen="8"  halPin="2-opmode" halType="s32"/>
          <pdoEntry idx="707A" subIdx="00" bitLen="32" halPin="2-target-position" halType="s32"/>
          <pdoEntry idx="70FF" subIdx="00" bitLen="32" halPin="2-target-velocity" halType="s32"/>
        </pdo>
   		<pdo idx="1630">
          <pdoEntry idx="7840" subIdx="00" bitLen="16" halPin="3-controlword" halType="u32"/>
          <pdoEntry idx="7860" subIdx="00" bitLen="8"  halPin="3-opmode" halType="s32"/>
          <pdoEntry idx="787A" subIdx="00" bitLen="32" halPin="3-target-position" halType="s32"/>
          <pdoEntry idx="78FF" subIdx="00" bitLen="32" halPin="3-target-velocity" halType="s32"/>
        </pdo>

      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="0-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="0-opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="0-actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="0-actual-velocity" halType="s32"/>
		</pdo>
		<pdo idx="1a10">
          <pdoEntry idx="6841" subIdx="00" bitLen="16" halPin="1-statusword" halType="u32"/>
          <pdoEntry idx="6861" subIdx="00" bitLen="8"  halPin="1-opmode-display" halType="s32"/>
          <pdoEntry idx="6864" subIdx="00" bitLen="32" halPin="1-actual-position" halType="s32"/>
          <pdoEntry idx="686C" subIdx="00" bitLen="32" halPin="1-actual-velocity" halType="s32"/>
        </pdo>
		<pdo idx="1a20">
          <pdoEntry idx="7041" subIdx="00" bitLen="16" halPin="2-statusword" halType="u32"/>
          <pdoEntry idx="7061" subIdx="00" bitLen="8"  halPin="2-opmode-display" halType="s32"/>
          <pdoEntry idx="7064" subIdx="00" bitLen="32" halPin="2-actual-position" halType="s32"/>
          <pdoEntry idx="706C" subIdx="00" bitLen="32" halPin="2-actual-velocity" halType="s32"/>
        </pdo>
		<pdo idx="1a30">
          <pdoEntry idx="7841" subIdx="00" bitLen="16" halPin="3-statusword" halType="u32"/>
          <pdoEntry idx="7861" subIdx="00" bitLen="8"  halPin="3-opmode-display" halType="s32"/>
          <pdoEntry idx="7864" subIdx="00" bitLen="32" halPin="3-actual-position" halType="s32"/>
          <pdoEntry idx="786C" subIdx="00" bitLen="32" halPin="3-actual-velocity" halType="s32"/>
        </pdo>

      </syncManager>
    </slave>
  </master>
</masters>

