<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
   <slave idx="0" type="generic" vid="00000106" pid="00000001" configPdos="true">
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear RX PDO1 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Map status word to RX-PDO1 -->
      <sdoConfig idx="1A00" subIdx="01">
        <sdoDataRaw data="60 41 00 10"/>
      </sdoConfig>
      <!-- Map position feedback to RX-PDO1 -->
      <sdoConfig idx="1A00" subIdx="02">
        <sdoDataRaw data="60 64 00 20"/>
      </sdoConfig>
      <!-- Set RX-PDO1 count to 2 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>
      <!-- Clear RX-PDO2 -->
      <sdoConfig idx="1A01" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear RX-PDO3 -->
      <sdoConfig idx="1A02" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear RX-PDO4 -->
      <sdoConfig idx="1A03" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear TX-PDO1 -->
      <sdoConfig idx="1600" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Map control word to TX-PDO1 -->
      <sdoConfig idx="1600" subIdx="01">
        <sdoDataRaw data="60 40 00 10"/>
      </sdoConfig>
      <!-- Map position command to TX-PDO1 -->
      <sdoConfig idx="1600" subIdx="02">
        <sdoDataRaw data="60 7A 00 20"/>
      </sdoConfig>
      <!-- Set TX-PDO1 count to 2 -->
      <sdoConfig idx="1600" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>
      <!-- Clear TX-PDO2 -->
      <sdoConfig idx="1601" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear TX-PDO3 -->
      <sdoConfig idx="1602" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear TX-PDO4 -->
      <sdoConfig idx="1603" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Download PDO 0x1C12:01 index -->
      <sdoConfig idx="1C12" subIdx="01">
        <sdoDataRaw data="16 00"/>
      </sdoConfig>
      <!-- Download PDO 0x1C12:02 index -->
      <sdoConfig idx="1C12" subIdx="02">
        <sdoDataRaw data="16 01"/>
      </sdoConfig>
      <!-- Download PDO 0x1C12 count -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>
      <!-- Download PDO 0x1C13:01 index -->
      <sdoConfig idx="1C13" subIdx="01">
        <sdoDataRaw data="1A 00"/>
      </sdoConfig>
      <!-- Download PDO 0x1C13:02 index -->
      <sdoConfig idx="1C13" subIdx="02">
        <sdoDataRaw data="1A 01"/>
      </sdoConfig>
      <!-- Download PDO 0x1C13 count -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>
      
      <!-- Set OpMode to Cyclic Synchronous Position -->
      <sdoConfig idx="6060" subIdx="00">
        <sdoDataRaw data="08"/>
      </sdoConfig>
      <!-- Set Cycle Time -->
      <sdoConfig idx="60C2" subIdx="01">
        <sdoDataRaw data="02"/>
      </sdoConfig>
      <!-- Set Cycle exp -->
      <sdoConfig idx="60C2" subIdx="02">
        <sdoDataRaw data="DF"/>
      </sdoConfig>
      <!-- Set Digital Output mask -->
      <sdoConfig idx="60FE" subIdx="02">
        <sdoDataRaw data="00 03 00 01"/>
      </sdoConfig>
      <!-- Set FBUS.PARAM05, enable DS402 scaling -->
      <sdoConfig idx="36E9" subIdx="00">
        <sdoDataRaw data="00 00 00 10"/>
      </sdoConfig>
      <!-- Set Motor Revolutions -->
      <sdoConfig idx="6091" subIdx="01">
        <sdoDataRaw data="00 00 00 01"/>
      </sdoConfig>
      <!-- Set Shaft Revolutions -->
      <sdoConfig idx="6091" subIdx="02">
        <sdoDataRaw data="00 00 00 01"/>
      </sdoConfig>
      <!-- Feed (65536 counts/rev) -->
      <sdoConfig idx="6092" subIdx="01">
        <sdoDataRaw data="00 10 00 00"/>
      </sdoConfig>
      <!-- Set Shaft Revolutions -->
      <sdoConfig idx="6092" subIdx="02">
        <sdoDataRaw data="00 00 00 01"/>
      </sdoConfig>

      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>
      <syncManager idx="2" dir="out">
		<pdo idx="1600">
          <!-- Byte 0 -->
          <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="eps-tog-out" halType="bit"/>
          <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="emc-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="emc-auto" halType="bit"/>
          <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="eps-request" halType="bit"/>
          <pdoEntry idx="7000" subIdx="05" bitLen="1" halPin="eps-unload" halType="bit"/>
          <pdoEntry idx="7000" subIdx="06" bitLen="1" halPin="out-nc0.5" halType="bit"/>
          <pdoEntry idx="7000" subIdx="07" bitLen="1" halPin="eps-vc-rdy" halType="bit"/>
          <pdoEntry idx="7000" subIdx="08" bitLen="1" halPin="out-nc0.7" halType="bit"/>
          <!-- Byte 1 -->
          <pdoEntry idx="7000" subIdx="09" bitLen="1" halPin="eps-vc-ena" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0a" bitLen="1" halPin="eps-vc-part-ok" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0b" bitLen="1" halPin="setup-pos-up" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0c" bitLen="1" halPin="setup-pos-down" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0d" bitLen="1" halPin="setup-prestop-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0e" bitLen="1" halPin="setup-prestop-off" halType="bit"/>
          <pdoEntry idx="7000" subIdx="0f" bitLen="1" halPin="setup-mainstop-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="10" bitLen="1" halPin="setup-mainstop-off" halType="bit"/>
          <!-- Byte 2 -->
          <pdoEntry idx="7000" subIdx="11" bitLen="1" halPin="setup-belt-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="12" bitLen="1" halPin="setup-belt-off" halType="bit"/>
          <pdoEntry idx="7000" subIdx="13" bitLen="1" halPin="cablamp-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="14" bitLen="1" halPin="cablamp-off" halType="bit"/>
          <pdoEntry idx="7000" subIdx="15" bitLen="1" halPin="eps-trash-empty" halType="bit"/>
          <pdoEntry idx="7000" subIdx="16" bitLen="1" halPin="setup-picker1-on" halType="bit"/>
          <pdoEntry idx="7000" subIdx="17" bitLen="1" halPin="setup-picker1-off" halType="bit"/>
          <pdoEntry idx="7000" subIdx="18" bitLen="1" halPin="setup-picker2-on" halType="bit"/>
          <!-- Byte 3 -->
          <pdoEntry idx="7000" subIdx="19" bitLen="1" halPin="setup-picker2-off" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1a" bitLen="1" halPin="setup-start" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1b" bitLen="1" halPin="setup-stop" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1c" bitLen="1" halPin="setup-cycle" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1d" bitLen="1" halPin="setup-home" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1e" bitLen="1" halPin="signal-green" halType="bit"/>
          <pdoEntry idx="7000" subIdx="1f" bitLen="1" halPin="signal-yellow" halType="bit"/>
          <pdoEntry idx="7000" subIdx="20" bitLen="1" halPin="signal-red" halType="bit"/>
          <!-- Byte 4 -->
          <pdoEntry idx="7000" subIdx="21" bitLen="8" halPin="eps-pickup-offset" halType="u32"/>
          <!-- Byte 5 -->
          <pdoEntry idx="7000" subIdx="22" bitLen="1" halPin="chuck-coat-loaded" halType="bit"/>
          <pdoEntry idx="7000" subIdx="23" bitLen="1" halPin="chuck-cam-loaded" halType="bit"/>
          <pdoEntry idx="7000" subIdx="24" bitLen="1" halPin="trash-infinite" halType="bit"/>
          <pdoEntry idx="7000" subIdx="25" bitLen="5" halPin="out-nc5" halType="u32"/>
          <!-- Byte 6 -->
          <pdoEntry idx="7000" subIdx="26" bitLen="8" halPin="out-nc6" halType="u32"/>
          <!-- Byte 7 -->
          <pdoEntry idx="7000" subIdx="27" bitLen="8" halPin="out-nc7" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
		<pdo idx="1a00">
          <!-- Byte 0 -->
          <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="eps-tog-in" halType="bit"/>
          <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="eps-error" halType="bit"/>
          <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="eps-ready" halType="bit"/>
          <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="eps-has-tray" halType="bit"/>
          <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="eps-vc-req" halType="bit"/>
          <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="eps-vc-ack" halType="bit"/>
          <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="eps-homed" halType="bit"/>
          <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="eps-trash-is-full" halType="bit"/>
          <!-- Byte 1 -->
          <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="eps-trash-is-empty" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0a" bitLen="1" halPin="eps-unload-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0b" bitLen="1" halPin="setup-pos-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0c" bitLen="1" halPin="setup-prestop-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0d" bitLen="1" halPin="setup-mainstop-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0e" bitLen="1" halPin="setup-belt-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="0f" bitLen="1" halPin="cablamp-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="10" bitLen="1" halPin="setup-picker1-active" halType="bit"/>
          <!-- Byte 2 -->
          <pdoEntry idx="6000" subIdx="11" bitLen="1" halPin="setup-picker1-loaded" halType="bit"/>
          <pdoEntry idx="6000" subIdx="12" bitLen="1" halPin="setup-picker2-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="13" bitLen="1" halPin="setup-picker2-loaded" halType="bit"/>
          <pdoEntry idx="6000" subIdx="14" bitLen="1" halPin="eps-active" halType="bit"/>
          <pdoEntry idx="6000" subIdx="15" bitLen="1" halPin="eps-vc-start" halType="bit"/>
          <pdoEntry idx="6000" subIdx="16" bitLen="1" halPin="eps-busy" halType="bit"/>
          <pdoEntry idx="6000" subIdx="17" bitLen="2" halPin="in-nc2.6" halType="bit"/>
          <!-- Byte 3 -->
          <pdoEntry idx="6000" subIdx="18" bitLen="8" halPin="in-nc3" halType="u32"/>
          <!-- Byte 4 -->
          <pdoEntry idx="6000" subIdx="19" bitLen="8" halPin="in-nc4" halType="u32"/>
          <!-- Byte 5 -->
          <pdoEntry idx="6000" subIdx="1a" bitLen="8" halPin="in-nc5" halType="u32"/>
          <!-- Byte 6 + 7 -->
          <pdoEntry idx="6000" subIdx="1b" bitLen="16" halPin="eps-error-code" halType="u32"/>
        </pdo>
      </syncManager>
    </slave>
 
  </master>
</masters>

