<masters>
	<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
		<slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="25000"/>
			<watchdog divider="2498" intervals="1000"/>
			<syncManager idx="2" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
					<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
					<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
					<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
					<!--Stepperonline A6: set parameter C04.59=1 to activate digital outputs (undocumented in manual)-->
					<!--Stepperonline A6: set parameter C04.5A=0-31 to change digital output behavior at disconnection (undocumented in manual)-->
					<pdoEntry idx="60FE" subIdx="1" bitLen="32" halType="complex">
						<!--60FE sub-index 1 is for digital out ON/OFF-->
						<complexEntry bitLen="16"/>  <!-- Empty Bits 0-15 -->
						<complexEntry bitLen="1" halPin="DO1_ON" halType="bit"/> <!-- Bit 16 -->
            			<complexEntry bitLen="1" halPin="DO2_ON" halType="bit"/> <!-- Bit 17 -->
						<!--complexEntry bitLen="1" halPin="DO3_ON" halType="bit"/--> <!-- Bit 18 --> <!--UNCOMMENT FOR MOTOR/AXIS WITHOUT BRAKE-->
						<complexEntry bitLen="14"/>  <!-- Empty Bits 18-32 --> <!--CHANGE bitLen TO "13" IF USING DO3-->
					</pdoEntry>
					<pdoEntry idx="60FE" subIdx="2" bitLen="32" halType="complex">
						<!--60FE sub-index 2 is for digital out enable-->
						<complexEntry bitLen="16"/>  <!-- Empty Bits 0-15 -->
						<complexEntry bitLen="1" halPin="DO1_ENA" halType="bit"/> <!-- Bit 16 -->
            			<complexEntry bitLen="1" halPin="DO2_ENA" halType="bit"/> <!-- Bit 17 -->
						<!--complexEntry bitLen="1" halPin="DO3_ENA" halType="bit"/--> <!-- Bit 18 --> <!--UNCOMMENT FOR MOTOR/AXIS WITHOUT BRAKE-->
						<complexEntry bitLen="14"/>  <!-- Empty Bits 18-32 --> <!--CHANGE bitLen TO "13" IF USING DO3-->
					</pdoEntry>
				</pdo>
			</syncManager>
			<syncManager idx="3" dir="in">
				<pdo idx="1A00">
					<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32"/>
					<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-actual" halType="s32"/>
				    <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-1" halType="s32"/>		
					<pdoEntry idx="60BC" subIdx="00" bitLen="32" halPin="touch-probe-2" halType="s32"/>
					<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="s32"/>		
					<pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="fault-code" halType="s32"/>
					<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            			<complexEntry bitLen="16"/>  <!-- Empty Bits 0-15 -->
            			<complexEntry bitLen="1" halPin="DI1" halType="bit"/> <!-- Bit 16 -->
            			<complexEntry bitLen="1" halPin="DI2" halType="bit"/> <!-- Bit 17 -->
            			<complexEntry bitLen="1" halPin="DI3" halType="bit"/> <!-- Bit 18 -->
            			<complexEntry bitLen="1" halPin="DI4" halType="bit"/> <!-- Bit 19 -->
            			<complexEntry bitLen="1" halPin="DI5" halType="bit"/> <!-- Bit 20 -->
            			<complexEntry bitLen="11"/>  <!-- Empty Bits 21-31 -->
					</pdoEntry>
					<pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="follow-error" halType="s32"/>
				</pdo>
			</syncManager>
		</slave>
	</master>
</masters>
