﻿<?xml version="1.0" encoding="utf-8"?>
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
    <!--Slave Antrieb 1 (AX5125-0000-0216) type of AX5125-0000-0216 in position at bus-0 as SoE-->
    <slave idx="0" type="generic" vid="0x00000002" pid="0x14056012" name="Antrieb-1-AX5-0" configPdos="true">
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="0018">
          <pdoEntry idx="0086" subIdx="01" bitLen="16" halPin="Master-control-0" halType="s32">
            <!--MDT-Master control word-0-->
          </pdoEntry>
          <pdoEntry idx="002F" subIdx="01" bitLen="32" halPin="Position-comman-1" halType="s32">
            <!--MDT-Position command value-1-->
          </pdoEntry>
          <pdoEntry idx="0024" subIdx="01" bitLen="32" halPin="Velocity-comman-2" halType="s32">
            <!--MDT-Velocity command value-2-->
          </pdoEntry>
          <pdoEntry idx="0050" subIdx="01" bitLen="16" halPin="Torque/force-co-3" halType="s32">
            <!--MDT-Torque/force command value-3-->
          </pdoEntry>
          <pdoEntry idx="81E4" subIdx="01" bitLen="32" halPin="Low-velocity-li-4" halType="s32">
            <!--MDT-Low velocity limit value-4-->
          </pdoEntry>
          <pdoEntry idx="81E5" subIdx="01" bitLen="32" halPin="High-velocity-l-5" halType="s32">
            <!--MDT-High velocity limit value-5-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="0010">
          <pdoEntry idx="0087" subIdx="01" bitLen="16" halPin="Drive-status-wo-6" halType="s32">
            <!--AT-Drive status word-6-->
          </pdoEntry>
          <pdoEntry idx="0033" subIdx="01" bitLen="32" halPin="Position-feedba-7" halType="s32">
            <!--AT-Position feedback 1 value-7-->
          </pdoEntry>
          <pdoEntry idx="00BD" subIdx="01" bitLen="32" halPin="Following-dista-8" halType="s32">
            <!--AT-Following distance-8-->
          </pdoEntry>
          <pdoEntry idx="0054" subIdx="01" bitLen="16" halPin="Torque/force-fe-9" halType="s32">
            <!--AT-Torque/force feedback value-9-->
          </pdoEntry>
          <pdoEntry idx="0028" subIdx="01" bitLen="32" halPin="Velocity-feedba-10" halType="s32">
            <!--AT-Velocity feedback 1 value-10-->
          </pdoEntry>
          <pdoEntry idx="81CC" subIdx="01" bitLen="16" halPin="Actual-flux-gen-11" halType="s32">
            <!--AT-Actual flux generating current-11-->
          </pdoEntry>
          <pdoEntry idx="81CD" subIdx="01" bitLen="16" halPin="Actual-absolute-12" halType="s32">
            <!--AT-Actual absolute current-12-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="740" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)
 DC config from original .xml file:
     rev_00d80000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00d70000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00d60000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00d50000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00d40000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00d20000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00cb0000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00ca0000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00c90000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00c80000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_000c0000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_000b0000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_000a0000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00090000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00080000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 

     rev_00070000  <dcConf 250us_cycle assignActivate="0730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 125us_cycle assignActivate="0730" sync0Cycle="125000" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/>  <dcConf 62.5us_cycle assignActivate="0730" sync0Cycle="62500" sync0Shift="0" sync1Cycle="0" sync1Shift="0"/> 
-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
  </master>
</masters>