<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <!-- Joint 0 X-AXIS -->
      <slave idx="0" type="generic" name="X-AXIS" vid="00000024" pid="00242804" configPdos="true" >
          <syncManager idx="0" dir="out">
          </syncManager>
          <syncManager idx="1" dir="in">
          </syncManager>
          <syncManager idx="2" dir="out">
            <pdo idx="0018">
              <pdoEntry idx="0086" subIdx="00" bitLen="16" halPin="S-0-0134-drctrl" halType="bit"/>
              <pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="10000" />
              <pdoEntry idx="0025" subIdx="00" bitLen="32" halPin="S-0-0036-velcmd" halType="float" scale="1000" />
              <pdoEntry idx="0051" subIdx="00" bitLen="16" halPin="S-0-0081-torqueaddcommand" halType="s32"/>
              <pdoEntry idx="0091" subIdx="00" bitLen="16" halPin="S-0-0145-signalcontrol" halType="bit"/>
            </pdo>
          </syncManager>
          <syncManager idx="3" dir="in">
            <pdo idx="0010">
              <pdoEntry idx="0087" subIdx="00" bitLen="16" halPin="S-0-0135-statusword" halType="bit"/>
              <pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="0.0001"/>
              <pdoEntry idx="0028" subIdx="00" bitLen="32" halPin="S-0-0040-speed" halType="s32"/>
              <pdoEntry idx="0054" subIdx="00" bitLen="16" halPin="S-0-0084-Nmfb" halType="s32"/>
              <pdoEntry idx="0090" subIdx="00" bitLen="16" halPin="S-0-0144-signalstatus" halType="bit"/>
            </pdo>
          </syncManager>
          <dcConf assignActivate="500" sync0Cycle="*1" sync0Shift="250000"/>
          <watchdog divider="2498" intervals="1000"/>
        </slave>
    <!-- Joint 1 Y-AXIS -->
        <slave idx="1" type="generic" vid="00000024" pid="00242804" configPdos="true" name="Y-AXIS">
          <syncManager idx="0" dir="out">
          </syncManager>
          <syncManager idx="1" dir="in">
          </syncManager>
          <syncManager idx="2" dir="out">
            <pdo idx="0018">
              <pdoEntry idx="0086" subIdx="00" bitLen="16" halPin="S-0-0134-drctrl" halType="bit"/>
              <pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="10000" />
              <pdoEntry idx="0025" subIdx="00" bitLen="32" halPin="S-0-0036-velcmd" halType="float" scale="1000" />
              <pdoEntry idx="0051" subIdx="00" bitLen="16" halPin="S-0-0081-torqueaddcommand" halType="s32"/>
              <pdoEntry idx="0091" subIdx="00" bitLen="16" halPin="S-0-0145-signalcontrol" halType="bit"/>
            </pdo>
          </syncManager>
          <syncManager idx="3" dir="in">
            <pdo idx="0010">
              <pdoEntry idx="0087" subIdx="00" bitLen="16" halPin="S-0-0135-statusword" halType="bit"/>
              <pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="0.0001"/>
              <pdoEntry idx="0028" subIdx="00" bitLen="32" halPin="S-0-0040-speed" halType="s32"/>
              <pdoEntry idx="0054" subIdx="00" bitLen="16" halPin="S-0-0084-Nmfb" halType="s32"/>
              <pdoEntry idx="0090" subIdx="00" bitLen="16" halPin="S-0-0144-signalstatus" halType="bit"/>
            </pdo>
          </syncManager>
          <dcConf assignActivate="500" sync0Cycle="*1" sync0Shift="250000"/>
          <watchdog divider="2498" intervals="1000"/>
         </slave>
    <!-- Joint 2 Z-AXIS -->
         <slave idx="2" type="generic" name="Z-AXIS" vid="00000024" pid="00242804" configPdos="true" >
          <syncManager idx="0" dir="out">
          </syncManager>
          <syncManager idx="1" dir="in">
          </syncManager>
          <syncManager idx="2" dir="out">
            <pdo idx="0018">
              <pdoEntry idx="0086" subIdx="00" bitLen="16" halPin="S-0-0134-drctrl" halType="bit"/>
              <pdoEntry idx="002f" subIdx="00" bitLen="32" halPin="S-0-0047-poscmd" halType="float" scale="10000" />
              <pdoEntry idx="0025" subIdx="00" bitLen="32" halPin="S-0-0036-velcmd" halType="float" scale="1000" />
              <pdoEntry idx="0051" subIdx="00" bitLen="16" halPin="S-0-0081-torqueaddcommand" halType="s32"/>
              <pdoEntry idx="0091" subIdx="00" bitLen="16" halPin="S-0-0145-signalcontrol" halType="bit"/>
              </pdo>
          </syncManager>
          <syncManager idx="3" dir="in">
            <pdo idx="0010">
              <pdoEntry idx="0087" subIdx="00" bitLen="16" halPin="S-0-0135-statusword" halType="bit"/>
              <pdoEntry idx="0033" subIdx="00" bitLen="32" halPin="S-0-0051-posfb" halType="float" scale="0.0001"/>
              <pdoEntry idx="0028" subIdx="00" bitLen="32" halPin="S-0-0040-speed" halType="s32"/>
              <pdoEntry idx="0054" subIdx="00" bitLen="16" halPin="S-0-0084-Nmfb" halType="s32"/>
              <pdoEntry idx="0090" subIdx="00" bitLen="16" halPin="S-0-0144-signalstatus" halType="bit"/>
            </pdo>
          </syncManager>
          <dcConf assignActivate="500" sync0Cycle="*1" sync0Shift="250000"/>
          <watchdog divider="2498" intervals="1000"/>
        </slave>
    <!-- Buskoppler und DI-Module -->
      <slave idx="3" type="EK1100" 	name="K010"/>
      <slave idx="4" type="EL1018" 	name="K010A1"/>
      <slave idx="5" type="EL1018" 	name="K010A2"/>	
      <slave idx="6" type="EL1018" 	name="K010A3"/>
    <!-- DO Module -->
      <slave idx="7" type="EL2004" 	name="K010B1"/>
      <slave idx="8" type="EL2004" 	name="K010B2"/>
      <slave idx="9" type="EL2004" 	name="K010B3"/>
    <!-- Analogausgangsmodul -->
      <slave idx="10" type="EL4102"  name="K010C1"/>
    <!-- Field DI/DO Modul -->
      <slave idx="11" type="generic" vid="00000002" pid="09224052" configPdos="true" name="EP2338-0001">
	    <syncManager idx="0" dir="out">	
        <pdo idx="1600">
            <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="A1" halType="bit"/>
        </pdo>
        <pdo idx="1601">
            <pdoEntry idx="7010" subIdx="01" bitLen="1" halPin="A2" halType="bit"/>
        </pdo>   
        <pdo idx="1602">
            <pdoEntry idx="7020" subIdx="01" bitLen="1" halPin="A3" halType="bit"/>
        </pdo>
        <pdo idx="1603">
            <pdoEntry idx="7030" subIdx="01" bitLen="1" halPin="A4" halType="bit"/>
        </pdo>
        <pdo idx="1604">
            <pdoEntry idx="7040" subIdx="01" bitLen="1" halPin="A5" halType="bit"/>
        </pdo>   
        <pdo idx="1605">
            <pdoEntry idx="7050" subIdx="01" bitLen="1" halPin="A6" halType="bit"/>
        </pdo>  
        <pdo idx="1606">
            <pdoEntry idx="7060" subIdx="01" bitLen="1" halPin="A7" halType="bit"/>
        </pdo>  
        <pdo idx="1607">
            <pdoEntry idx="7070" subIdx="01" bitLen="1" halPin="A8" halType="bit"/>
        </pdo> 
        </syncManager>
	    <syncManager idx="1" dir="in">
        <pdo idx="1a00">
            <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="I1" halType="bit"/>
        </pdo>
        <pdo idx="1a01">
            <pdoEntry idx="6010" subIdx="01" bitLen="1" halPin="I2" halType="bit"/>
        </pdo>   
        <pdo idx="1a02">
            <pdoEntry idx="6020" subIdx="01" bitLen="1" halPin="I3" halType="bit"/>
        </pdo>
        <pdo idx="1a03">
            <pdoEntry idx="6030" subIdx="01" bitLen="1" halPin="I4" halType="bit"/>
        </pdo>
        <pdo idx="1a04">
            <pdoEntry idx="6040" subIdx="01" bitLen="1" halPin="I5" halType="bit"/>
        </pdo>   
        <pdo idx="1a05">
            <pdoEntry idx="6050" subIdx="01" bitLen="1" halPin="I6" halType="bit"/>
        </pdo>  
        <pdo idx="1a06">
            <pdoEntry idx="6060" subIdx="01" bitLen="1" halPin="I7" halType="bit"/>
        </pdo>  
        <pdo idx="1a07">
            <pdoEntry idx="6070" subIdx="01" bitLen="1" halPin="I8" halType="bit"/>
        </pdo>              
        </syncManager>
        </slave>
   </master>
</masters>

