<?xml version="1.0" encoding="utf-8"?>
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">

    <slave idx="0" type="EK1100" name="EK1100_1"/>

    <slave idx="1" type="EL1008" name="DI1"/>
    <slave idx="2" type="EL1008" name="DI2"/>
    <slave idx="3" type="EL1008" name="DI3"/>

    <slave idx="4" type="EL2008" name="DO1"/>
    <slave idx="5" type="EL2008" name="DO2"/>
    <slave idx="6" type="EL2008" name="DO3"/>

    <!-- Slave Antrieb 1 (AX5125-0000-0216) type of AX5125-0000-0216 in position at bus-0 as SoE -->
    <slave idx="7" 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"/>
    </slave>

    <slave idx="8" type="EK1100" name="EK1100_2"/>

    <slave idx="9" type="EL2008" name="DO4"/>

    <slave idx="10" type="EK1100" name="EK1100_3"/>

    <slave idx="11" type="EL1008" name="DI4"/>

    <slave idx="12" type="EL3255" name="AI1"/>

  </master>
</masters>