<masters>
    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
        <!-- StepperOnline A6, which is an OEM version of Inovance SV660N -->
        <slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true" name="X">
            <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000" />
            <watchdog divider="2498" intervals="1000" />
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32" />
                    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" halType="s32" />
                    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
                    <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
                    <pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                    <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                    <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
		    <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
		    <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
                    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-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>
        <slave idx="1" type="generic" vid="00400000" pid="00000715" configPdos="true" name="YL">
            <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000" />
            <watchdog divider="2498" intervals="1000" />
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32" />
                    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" halType="s32" />
                    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
                    <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
                    <pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                    <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                    <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
		    <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
		    <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
                    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-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>        
        <slave idx="2" type="generic" vid="00400000" pid="00000715" configPdos="true" name="YR">
            <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000" />
            <watchdog divider="2498" intervals="1000" />
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32" />
                    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" halType="s32" />
                    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
                    <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
                    <pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                    <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                    <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
		    <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
		    <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
                    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-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>        
        <slave idx="3" type="generic" vid="00400000" pid="00000715" configPdos="true" name="Z">
            <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000" />
            <watchdog divider="2498" intervals="1000" />
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32" />
                    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" halType="s32" />
                    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
                    <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
                    <pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                    <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                    <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
		    <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
		    <pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
                    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-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> 
	<master idx="1" refClockSyncCycles="1" appTimePeriod="1000000" >
        <!-- Ethercat IO -->
		<slave idx="0" type="EK1100"/>
		<slave idx="1" type="EL2008"/>
		<slave idx="2" type="EL2008"/>
		<slave idx="3" type="EL1018"/>
		<slave idx="4" type="EL1018"/>
		<slave idx="5" type="EK1100"/>
		<slave idx="6" type="EL1018"/>
		<slave idx="7" type="EL2008"/>
		
	</master>

</masters>



