<masters>
  <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
    <slave idx="0" type="EK1100"/>
    <slave idx="1" type="EL1004"/>
    <slave idx="2" type="EL1004"/>
    <slave idx="3" type="EL1004"/>
    <slave idx="4" type="EL1004"/> 
    <slave idx="5" type="EL2004"/>
    <slave idx="6" type="EL4002"/>
    <!-- EL6751 CANopen slave -->
     <!-- EL6751 CANopen slave -->
  <slave idx="7" type="generic" vid="00000002" pid="1a5f3052" configPdos="true">

    <sdoConfig idx="1c32" subIdx="complete">
		<sdoDataRaw data="03 00 01 00 80 84 1E 00"/> 
		
		<sdoDataRaw data="00 00 00 00"/>
		
      <!--<sdoDataRaw data="03 00 01 00 00 09 3D 00"> -->
      <!--<sdoDataRaw data="00 00 00 00"/>-->
    </sdoConfig>

    <sdoConfig idx="1c33" subIdx="complete">
      <sdoDataRaw data="03 00 22 00 00 00 00 00"/>
      <sdoDataRaw data="80 4F 12 00"/>
    </sdoConfig>

    <sdoConfig idx="f800" subIdx="complete">
      <sdoDataRaw data="0A 00 7F 00 80 00 13 00"/>
      <sdoDataRaw data="01 00 10 00 64 00"/>
    </sdoConfig>

    <!--SDO Init Cmds Node 0 -->
    <sdoConfig idx="8000" subIdx="complete">
		<sdoDataRaw data="2B 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00 03 00 D0 07 00 00 01 01 78 00 0A 00"/>
   <!--   <sdoDataRaw data="2B 00 02 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 64 00 03 00"/>
      <sdoDataRaw data="D0 07 00 00 01 01 78 00"/>
      <sdoDataRaw data="0A 00"/>		-->
    </sdoConfig>

    <sdoConfig idx="8001" subIdx="complete">
		 <sdoDataRaw data="01 00 01 00 00 00 01 06 81 01 00 00 00 00 00 18"/>
    <!--   <sdoDataRaw data="01 00 01 00 00 00 01 06"/>
      <sdoDataRaw data="82 01 00 00 00 00 00 18"/> -->
      
    </sdoConfig>

    <sdoConfig idx="8002" subIdx="complete">
		 <sdoDataRaw data="01 00 00 00 00 00 01 06 01 02 00 00 00 00 00 14"/>
      <!-- <sdoDataRaw data="01 00 00 00 00 00 01 06"/>
      <sdoDataRaw data="02 02 00 00 00 00 00 14"/> -->
    </sdoConfig>
   
    <sdoConfig idx="8003" subIdx="complete">
		<sdoDataRaw data="11 00 00 18 01 04 00 81 01 00 00 00 18 02 01 00 01 00 14 01 04 00 01 02 00 00 00 14 02 01 00 01 00 16 00 01 00 00 00 16 01 04 00 10 00 40 60 00 16 02 04 00 20 01 C1 60 00 16 00 01 00 02 01 16 00 01 00 00 00 1A 00 01 00 00 00 1A 01 04 00 10 00 41 60 00 1A 02 04 00 20 00 64 60 00 1A 00 01 00 02 01 1A 00 01 00 00 C2 60 01 01 00 02 60 60 00 01 00 07 C4 60 06 01 00 01"/>
   <!--   
	  <sdoDataRaw data="11 00 00 18 01 04 00 81"/>
      
      <sdoDataRaw data="01 00 00 00 18 02 01 00"/>
      
      <sdoDataRaw data="01 00 14 01 04 00 01 02"/>
      
      <sdoDataRaw data="00 00 00 14 02 01 00 01"/>
      
      <sdoDataRaw data="00 16 00 01 00 00 00 16"/>
      
      <sdoDataRaw data="01 04 00 10 00 40 60 00"/>
      
      <sdoDataRaw data="16 02 04 00 20 01 C1 60"/>
      
      <sdoDataRaw data="00 16 00 01 00 02 01 16"/>
      
      <sdoDataRaw data="00 01 00 00 "/>         
      
      <sdoDataRaw data="00 1A 00 01 00 00"/>	-->
      
      
      <!-- 0x1A02 1. gemapptes Objekt(6041) in PDO mit Datenlänge 2-->
<!--
      <sdoDataRaw data="00 1A 01 04 00 10 00 41 60"/>
   
      <sdoDataRaw data="00 1A 02 04 00 20 00 64 60"/>
     
      <sdoDataRaw data="00 1A 00 01 00 02"/>
    
      <sdoDataRaw data="01 1A 00 01 00 00"/>
    
      <sdoDataRaw data="C2 60 01 01 00 02"/>
      
      <sdoDataRaw data="60 60 00 01 00 07"/>
      
      <sdoDataRaw data="C4 60 06 01 00 01"/>	
-->
    </sdoConfig>
    
    
    
     <!--SDO Init Cmds Node 1 -->
    <sdoConfig idx="8010" subIdx="complete">
		  <sdoDataRaw data="2B 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00 03 00 D0 07 00 00 01 01 78 00 0A 00"/>
<!--
      <sdoDataRaw data="2B 00 02 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 64 00 03 00"/>
      <sdoDataRaw data="D0 07 00 00 01 01 78 00"/>
      <sdoDataRaw data="0A 00"/>
-->
    </sdoConfig>

    <sdoConfig idx="8011" subIdx="complete">
		<sdoDataRaw data="01 00 01 00 00 00 01 06 82 01 00 00 00 00 00 18"/>
<!--
      <sdoDataRaw data="01 00 01 00 00 00 01 06"/>
      <sdoDataRaw data="81 01 00 00 00 00 00 18"/>
      
-->
    </sdoConfig>

    <sdoConfig idx="8012" subIdx="complete">
		<sdoDataRaw data="01 00 00 00 00 00 01 06 02 02 00 00 00 00 00 14"/>
<!--
      <sdoDataRaw data="01 00 00 00 00 00 01 06"/>
      <sdoDataRaw data="01 02 00 00 00 00 00 14"/>
-->
    </sdoConfig>
   
    <sdoConfig idx="8013" subIdx="complete">
		 <sdoDataRaw data="11 00 00 18 01 04 00 82 01 00 00 00 18 02 01 00 01 00 14 01 04 00 02 02 00 00 00 14 02 01 00 01 00 16 00 01 00 00 00 16 01 04 00 10 00 40 60 00 16 02 04 00 20 01 C1 60 00 16 00 01 00 02 01 16 00 01 00 00 00 1A 00 01 00 00 00 1A 01 04 00 10 00 41 60 00 1A 02 04 00 20 00 64 60 00 1A 00 01 00 02 01 1A 00 01 00 00 C2 60 01 01 00 02 60 60 00 01 00 07 C4 60 06 01 00 01"/>
<!--
      <sdoDataRaw data="11 00 00 18 01 04 00 81"/>
      
      <sdoDataRaw data="01 00 00 00 18 02 01 00"/>
      
      <sdoDataRaw data="01 00 14 01 04 00 01 02"/>
      
      <sdoDataRaw data="00 00 00 14 02 01 00 01"/>
      
      <sdoDataRaw data="00 16 00 01 00 00 00 16"/>
      
      <sdoDataRaw data="01 04 00 10 00 40 60 00"/>
      
      <sdoDataRaw data="16 02 04 00 20 01 C1 60"/>
      
      <sdoDataRaw data="00 16 00 01 00 02 01 16"/>
      
      <sdoDataRaw data="00 01 00 00 "/>         
      
      <sdoDataRaw data="00 1A 00 01 00 00"/>

      
      
      
      <sdoDataRaw data="00 1A 01 04 00 10 00 41 60"/>
     
      <sdoDataRaw data="00 1A 02 04 00 20 00 64 60"/>
     
      <sdoDataRaw data="00 1A 00 01 00 02"/>
   
      <sdoDataRaw data="01 1A 00 01 00 00"/>
     
      <sdoDataRaw data="C2 60 01 01 00 02"/>
    
      <sdoDataRaw data="60 60 00 01 00 07"/>
    
      <sdoDataRaw data="C4 60 06 01 00 01"/> 	-->
    </sdoConfig>
	
	
	
	    <!--SDO Init Cmds Node 1 -->
    <sdoConfig idx="8020" subIdx="complete">
		  <sdoDataRaw data="2B 00 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 00 03 00 D0 07 00 00 01 01 78 00 0A 00"/>
<!--
      <sdoDataRaw data="2B 00 01 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 00 00 00 00"/>
      <sdoDataRaw data="00 00 00 00 64 00 03 00"/>
      <sdoDataRaw data="D0 07 00 00 01 01 78 00"/>
      <sdoDataRaw data="0A 00"/>
-->
    </sdoConfig>

    <sdoConfig idx="8021" subIdx="complete">
		<sdoDataRaw data="01 00 01 00 00 00 01 06 83 01 00 00 00 00 00 18"/>
<!--
      <sdoDataRaw data="01 00 01 00 00 00 01 06"/>
      <sdoDataRaw data="81 01 00 00 00 00 00 18"/>
      
-->
    </sdoConfig>

    <sdoConfig idx="8022" subIdx="complete">
		<sdoDataRaw data="01 00 00 00 00 00 01 06 03 02 00 00 00 00 00 14"/>
<!--
      <sdoDataRaw data="01 00 00 00 00 00 01 06"/>
      <sdoDataRaw data="01 02 00 00 00 00 00 14"/>
-->
    </sdoConfig>
   
    <sdoConfig idx="8023" subIdx="complete">
		 <sdoDataRaw data="11 00 00 18 01 04 00 83 01 00 00 00 18 02 01 00 01 00 14 01 04 00 03 02 00 00 00 14 02 01 00 01 00 16 00 01 00 00 00 16 01 04 00 10 00 40 60 00 16 02 04 00 20 01 C1 60 00 16 00 01 00 02 01 16 00 01 00 00 00 1A 00 01 00 00 00 1A 01 04 00 10 00 41 60 00 1A 02 04 00 20 00 64 60 00 1A 00 01 00 02 01 1A 00 01 00 00 C2 60 01 01 00 02 60 60 00 01 00 07 C4 60 06 01 00 01"/>
<!--
      <sdoDataRaw data="11 00 00 18 01 04 00 81"/>
      
      <sdoDataRaw data="01 00 00 00 18 02 01 00"/>
      
      <sdoDataRaw data="01 00 14 01 04 00 01 02"/>
      
      <sdoDataRaw data="00 00 00 14 02 01 00 01"/>
      
      <sdoDataRaw data="00 16 00 01 00 00 00 16"/>
      
      <sdoDataRaw data="01 04 00 10 00 40 60 00"/>
      
      <sdoDataRaw data="16 02 04 00 20 01 C1 60"/>
      
      <sdoDataRaw data="00 16 00 01 00 02 01 16"/>
      
      <sdoDataRaw data="00 01 00 00 "/>         
      
      <sdoDataRaw data="00 1A 00 01 00 00"/>

      
      
      
      <sdoDataRaw data="00 1A 01 04 00 10 00 41 60"/>
     
      <sdoDataRaw data="00 1A 02 04 00 20 00 64 60"/>
     
      <sdoDataRaw data="00 1A 00 01 00 02"/>
   
      <sdoDataRaw data="01 1A 00 01 00 00"/>
     
      <sdoDataRaw data="C2 60 01 01 00 02"/>
    
      <sdoDataRaw data="60 60 00 01 00 07"/>
    
      <sdoDataRaw data="C4 60 06 01 00 01"/> 	-->
    </sdoConfig>
	
	
	
	
	
	
 <!--   
 <sdoConfig idx="1a00" subIdx="complete">
      <sdoDataRaw data="02 00 10 00 41 60 30 01 00 60"/>
    </sdoConfig>

 <sdoConfig idx="1600" subIdx="complete">
      <sdoDataRaw data="02 00 10 00 40 60 30 01 00 70"/>
    </sdoConfig>
    -->
    <sdoConfig idx="1c12" subIdx="complete">
      <sdoDataRaw data="01 00 00 16"/>
    </sdoConfig>

    <sdoConfig idx="1c13" subIdx="complete">
      <sdoDataRaw data="02 00 00 1A 80 1A"/>
    </sdoConfig>


     <syncManager idx="0" dir="out">
    </syncManager>
    <syncManager idx="1" dir="in">
	</syncManager>
    <syncManager idx="2" dir="out">
		  <pdo idx="1600">
			
				<pdoEntry idx="7000" subIdx="01" bitLen="48" halType="complex">
					<complexEntry bitLen="1" halPin="X-cmd-SwitchOn" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-EnableVoltage" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-/QuickStop" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-EnableOperation" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-EnableIPMode" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit05" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit06" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-FaultReset" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-Halt" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit09" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit10" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit11" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit12" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit13" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit14" halType="bit"/>
					<complexEntry bitLen="1" halPin="X-cmd-bit15" halType="bit"/>
					<complexEntry bitLen="32" halPin="X-TargetPos" halType="float" scale="400"/>
				</pdoEntry>
		  </pdo>
		  
		  <pdo idx="1601">
			
				<pdoEntry idx="7010" subIdx="01" bitLen="48" halType="complex">
					<complexEntry bitLen="1" halPin="Y-cmd-SwitchOn" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-EnableVoltage" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-/QuickStop" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-EnableOperation" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-EnableIPMode" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit05" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit06" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-FaultReset" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-Halt" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit09" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit10" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit11" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit12" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit13" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit14" halType="bit"/>
					<complexEntry bitLen="1" halPin="Y-cmd-bit15" halType="bit"/>
					<complexEntry bitLen="32" halPin="Y-TargetPos" halType="float" scale="-400"/>
				</pdoEntry>
		  </pdo>
		  
		  
		   <pdo idx="1602">
			
				<pdoEntry idx="7020" subIdx="01" bitLen="48" halType="complex">
					<complexEntry bitLen="1" halPin="Z-cmd-SwitchOn" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-EnableVoltage" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-/QuickStop" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-EnableOperation" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-EnableIPMode" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit05" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit06" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-FaultReset" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-Halt" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit09" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit10" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit11" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit12" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit13" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit14" halType="bit"/>
					<complexEntry bitLen="1" halPin="Z-cmd-bit15" halType="bit"/>
					<complexEntry bitLen="32" halPin="Z-TargetPos" halType="float" scale="400"/>
				</pdoEntry>
		  </pdo>
		  
    </syncManager>
    
     
    <syncManager idx="3" dir="in">
      <pdo idx="1a00">
        
			<pdoEntry idx="6000" subIdx="01" bitLen="48" halType="complex">
				<complexEntry bitLen="1" halPin="X-stat-ReadyToSwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-SwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-OperationEnable" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-Fault" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-VoltageEnabled" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-QuickStop" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-SwitchOnDisable" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-Warning" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-bit08" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-Remote" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-TargetIsReached" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-InternalLimitActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-IPModeActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-bit13" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-bit14" halType="bit"/>
				<complexEntry bitLen="1" halPin="X-stat-bit15" halType="bit"/>
				<complexEntry bitLen="32" halPin="X-Pos" halType="float" scale="0.0025"/>
			</pdoEntry>
	 </pdo>
		<pdo idx="1a01">
        
			<pdoEntry idx="6010" subIdx="01" bitLen="48" halType="complex">
				<complexEntry bitLen="1" halPin="Y-stat-ReadyToSwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-SwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-OperationEnable" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-Fault" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-VoltageEnabled" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-QuickStop" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-SwitchOnDisable" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-Warning" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-bit08" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-Remote" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-TargetIsReached" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-InternalLimitActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-IPModeActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-bit13" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-bit14" halType="bit"/>
				<complexEntry bitLen="1" halPin="Y-stat-bit15" halType="bit"/>
				<complexEntry bitLen="32" halPin="Y-Pos" halType="float" scale="-0.0025"/>
			</pdoEntry>
        
		</pdo>
	
		<pdo idx="1a02">
			
			<pdoEntry idx="6020" subIdx="01" bitLen="48" halType="complex">
				<complexEntry bitLen="1" halPin="Z-stat-ReadyToSwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-SwitchOn" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-OperationEnable" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-Fault" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-VoltageEnabled" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-QuickStop" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-SwitchOnDisable" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-Warning" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-bit08" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-Remote" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-TargetIsReached" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-InternalLimitActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-IPModeActive" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-bit13" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-bit14" halType="bit"/>
				<complexEntry bitLen="1" halPin="Z-stat-bit15" halType="bit"/>
				<complexEntry bitLen="32" halPin="Z-Pos" halType="float" scale="0.0025"/>
			</pdoEntry>
			
		</pdo>
			
		<pdo idx="1a80">
        <pdoEntry idx="f102" subIdx="01" bitLen="8" halPin="CanNode1State" halType="u32"/>
        <pdoEntry idx="f102" subIdx="02" bitLen="8" halPin="CanNode2State" halType="u32"/>
        <pdoEntry idx="f102" subIdx="03" bitLen="8" halPin="CanNode3State" halType="u32"/>
        <pdoEntry idx="f101" subIdx="03" bitLen="8" halPin="f101:03/8" halType="u32"/>
        <pdoEntry idx="f108" subIdx="01" bitLen="1" halPin="CanBusOff" halType="bit"/>
        <pdoEntry idx="f108" subIdx="02" bitLen="1" halPin="CanWarnLimit" halType="bit"/>
        <pdoEntry idx="f108" subIdx="03" bitLen="1" halPin="RxFifoOverflow" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="1" halPin="0000:00/1" halType="bit"/>
        <pdoEntry idx="f108" subIdx="05" bitLen="1" halPin="TxFifoOverflow" halType="bit"/>
        <pdoEntry idx="f108" subIdx="06" bitLen="1" halPin="CanAckErr" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="2" halPin="0000:00/2" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="8" halPin="0000:00/8" halType="bit"/>
        <pdoEntry idx="f108" subIdx="21" bitLen="8" halPin="RxErrCount" halType="u32"/>
        <pdoEntry idx="f108" subIdx="22" bitLen="8" halPin="TxErrCount" halType="u32"/>
        <pdoEntry idx="f101" subIdx="14" bitLen="1" halPin="f101:14/1" halType="bit"/>
        <pdoEntry idx="f103" subIdx="01" bitLen="1" halPin="CanDiagSlave1" halType="bit"/>
        <pdoEntry idx="f103" subIdx="02" bitLen="1" halPin="CanDiagSlave2" halType="bit"/>
        <pdoEntry idx="f103" subIdx="03" bitLen="1" halPin="CanDiagSlave3" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="4" halPin="0000:00/4" halType="bit"/>
      </pdo>
<!--
      <pdo idx="1a80">
        <pdoEntry idx="f102" subIdx="01" bitLen="8" halPin="CanNode1State" halType="u32"/>
         <pdoEntry idx="f102" subIdx="02" bitLen="8" halPin="CanNode2State" halType="u32"/>
       <pdoEntry idx="f101" subIdx="03" bitLen="8" halPin="f101:03/8" halType="u32"/>
        <pdoEntry idx="f108" subIdx="01" bitLen="1" halPin="CanBusOff" halType="bit"/>
        <pdoEntry idx="f108" subIdx="02" bitLen="1" halPin="CanWarnLimit" halType="bit"/>
        <pdoEntry idx="f108" subIdx="03" bitLen="1" halPin="RxFifoOverflow" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="1" halPin="0000:00/1" halType="bit"/>
        <pdoEntry idx="f108" subIdx="05" bitLen="1" halPin="TxFifoOverflow" halType="bit"/>
        <pdoEntry idx="f108" subIdx="06" bitLen="1" halPin="CanAckErr" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="2" halPin="0000:00/2" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="8" halPin="0000:00/8" halType="bit"/>
        <pdoEntry idx="f108" subIdx="21" bitLen="8" halPin="RxErrCount" halType="u32"/>
        <pdoEntry idx="f108" subIdx="22" bitLen="8" halPin="TxErrCount" halType="u32"/>
        <pdoEntry idx="f101" subIdx="14" bitLen="1" halPin="f101:14/1" halType="bit"/>
        <pdoEntry idx="f103" subIdx="01" bitLen="1" halPin="CanDiagSlave1" halType="bit"/>
         <pdoEntry idx="f103" subIdx="02" bitLen="1" halPin="CanDiagSlave2" halType="bit"/>
        <pdoEntry idx="0000" subIdx="00" bitLen="4" halPin="0000:00/4" halType="bit"/>
      </pdo>
	  
-->
    </syncManager>
</slave>
  
  </master>
</masters>

