﻿<?xml version="1.0" encoding="utf-8"?>
<masters>
  <master idx="0" appTimePeriod="250000" refClockSyncCycles="250">
    <slave idx="0" type="EK1100" name="EK1100-0" />
    <slave idx="1" type="EL1008" name="EL1008-1" />
    <slave idx="2" type="EL2008" name="EL2008-2" />
    <slave idx="3" type="generic" vid="0x00000002" pid="0x1A5F3052" name="EL6751-3" configPdos="true">
      <sdoConfig idx="1C32" subIdx="complete">
        <sdoDataRaw data="0300010040420F0000000000" />
      </sdoConfig>
      <sdoConfig idx="1C33" subIdx="complete">
        <sdoDataRaw data="0300220000000000C0270900" />
      </sdoConfig>
      <sdoConfig idx="F800" subIdx="complete">
        <sdoDataRaw data="0A007F0280001E00010010006400" />
      </sdoConfig>
      <sdoConfig idx="8000" subIdx="complete">
        <sdoDataRaw data="2B000100000000000000000000000000000000000000000059000000000000000000000000000000000000000000000000000000640003000000000002023C000A00" />
      </sdoConfig>
      <sdoConfig idx="8001" subIdx="complete">
        <sdoDataRaw data="020001000000010881010000000000180100000001088102000000000118" />
      </sdoConfig>
      <sdoConfig idx="8002" subIdx="complete">
        <sdoDataRaw data="020000000000010801020000000000140000000001080103000000000114" />
      </sdoConfig>
      <sdoConfig idx="8003" subIdx="complete">
        <sdoDataRaw data="0800001801040081010000001802010001011801040081020000011802010001001401040001020000001402010001011401040001030000011402010001" />
      </sdoConfig>
      <sdoConfig idx="8010" subIdx="complete">
        <sdoDataRaw data="2B00020000000000000000000000000000000000920102006A0000000000000000000000000000000000000000000000000000006400030000000000040478000A00" />
      </sdoConfig>
      <sdoConfig idx="8011" subIdx="complete">
        <sdoDataRaw data="040001000000FF02820100000000001801000000FF03820200000000011801000000FF06820300000000021801000000FF068204000000000318" />
      </sdoConfig>
      <sdoConfig idx="8012" subIdx="complete">
        <sdoDataRaw data="040000000000FF02020200000000001400000000FF03020300000000011400000000FF06020400000000021400000000FF060205000000000314" />
      </sdoConfig>
      <sdoConfig idx="8013" subIdx="complete">
        <sdoDataRaw data="10000018010400820100000018020100FF0118010400820200000118020100FF0218010400820300000218020100FF0318010400820400000318020100FF0014010400020200000014020100FF0114010400020300000114020100FF0214010400020400000214020100FF0314010400020500000314020100FF" />
      </sdoConfig>
      <sdoConfig idx="8020" subIdx="complete">
        <sdoDataRaw data="2B00030000000000000000000000000000000000920102001D0000004B20000000000000000000000000000000000000000000006400030000000000040478000A00" />
      </sdoConfig>
      <sdoConfig idx="8021" subIdx="complete">
        <sdoDataRaw data="040001000000FF02830100000000001801000000FF03830200000000011801000000FF06830300000000021801000000FF068304000000000318" />
      </sdoConfig>
      <sdoConfig idx="8022" subIdx="complete">
        <sdoDataRaw data="040000000000FF02030200000000001400000000FF03030300000000011400000000FF06030400000000021400000000FF060305000000000314" />
      </sdoConfig>
      <sdoConfig idx="8023" subIdx="complete">
        <sdoDataRaw data="10000018010400830100000018020100FF0118010400830200000118020100FF0218010400830300000218020100FF0318010400830400000318020100FF0014010400030200000014020100FF0114010400030300000114020100FF0214010400030400000214020100FF0314010400030500000314020100FF" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="7000" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-0-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-0-1" halType="s32" />
            <!--BOX-22- -CANOPEN-64-0-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="02" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-1-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-1-1" halType="s32" />
            <!--BOX-22- -CANOPEN-64-1-->
          </pdoEntry>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="RxPDO-1-2" halType="s32">
            <!--BOX 24 (CANOPEN SLAVE)_OUT-RxPDO-1-2-->
          </pdoEntry>
          <pdoEntry idx="7010" subIdx="02" bitLen="24" halPin="RxPDO-2-3" halType="s32">
            <!--BOX 24 (CANOPEN SLAVE)_OUT-RxPDO-2-3-->
          </pdoEntry>
          <pdoEntry idx="7010" subIdx="03" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-24-CANOPEN-48-4-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-24-CANOPEN-48-4-1" halType="s32" />
            <!--BOX-24- -CANOPEN-48-4-->
          </pdoEntry>
          <pdoEntry idx="7010" subIdx="04" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-24-CANOPEN-48-5-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-24-CANOPEN-48-5-1" halType="s32" />
            <!--BOX-24- -CANOPEN-48-5-->
          </pdoEntry>
        </pdo>
        <pdo idx="1602">
          <pdoEntry idx="7020" subIdx="01" bitLen="16" halPin="RxPDO-1-6" halType="s32">
            <!--BOX 25 (CANOPEN SLAVE)_OUT-RxPDO-1-6-->
          </pdoEntry>
          <pdoEntry idx="7020" subIdx="02" bitLen="24" halPin="RxPDO-2-7" halType="s32">
            <!--BOX 25 (CANOPEN SLAVE)_OUT-RxPDO-2-7-->
          </pdoEntry>
          <pdoEntry idx="7020" subIdx="03" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-25-CANOPEN-48-8-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-25-CANOPEN-48-8-1" halType="s32" />
            <!--BOX-25- -CANOPEN-48-8-->
          </pdoEntry>
          <pdoEntry idx="7020" subIdx="04" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-25-CANOPEN-48-9-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-25-CANOPEN-48-9-1" halType="s32" />
            <!--BOX-25- -CANOPEN-48-9-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6000" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-10-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-10-1" halType="s32" />
            <!--BOX-22- -CANOPEN-64-10-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-11-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-22-CANOPEN-64-11-1" halType="s32" />
            <!--BOX-22- -CANOPEN-64-11-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="6010" subIdx="01" bitLen="16" halPin="TxPDO-1-12" halType="s32">
            <!--BOX 24 (CANOPEN SLAVE)_IN-TxPDO-1-12-->
          </pdoEntry>
          <pdoEntry idx="6010" subIdx="02" bitLen="24" halPin="TxPDO-2-13" halType="s32">
            <!--BOX 24 (CANOPEN SLAVE)_IN-TxPDO-2-13-->
          </pdoEntry>
          <pdoEntry idx="6010" subIdx="03" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-24-CANOPEN-48-14-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-24-CANOPEN-48-14-1" halType="s32" />
            <!--BOX-24- -CANOPEN-48-14-->
          </pdoEntry>
          <pdoEntry idx="6010" subIdx="04" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-24-CANOPEN-48-15-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-24-CANOPEN-48-15-1" halType="s32" />
            <!--BOX-24- -CANOPEN-48-15-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A02">
          <pdoEntry idx="6020" subIdx="01" bitLen="16" halPin="TxPDO-1-16" halType="s32">
            <!--BOX 25 (CANOPEN SLAVE)_IN-TxPDO-1-16-->
          </pdoEntry>
          <pdoEntry idx="6020" subIdx="02" bitLen="24" halPin="TxPDO-2-17" halType="s32">
            <!--BOX 25 (CANOPEN SLAVE)_IN-TxPDO-2-17-->
          </pdoEntry>
          <pdoEntry idx="6020" subIdx="03" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-25-CANOPEN-48-18-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-25-CANOPEN-48-18-1" halType="s32" />
            <!--BOX-25- -CANOPEN-48-18-->
          </pdoEntry>
          <pdoEntry idx="6020" subIdx="04" bitLen="48">
            <complexEntry bitLen="32" halPin="BOX-25-CANOPEN-48-19-0" halType="s32" />
            <complexEntry bitLen="16" halPin="BOX-25-CANOPEN-48-19-1" halType="s32" />
            <!--BOX-25- -CANOPEN-48-19-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A80">
          <pdoEntry idx="A000" subIdx="01" bitLen="8" halPin="Box-22-CANopen-20" halType="s32">
            <!--DEVICE 3 (EL6751)-Box-22-CANopen- -20-->
          </pdoEntry>
          <pdoEntry idx="A010" subIdx="01" bitLen="8" halPin="Box-24-CANopen-21" halType="s32">
            <!--DEVICE 3 (EL6751)-Box-24-CANopen- -21-->
          </pdoEntry>
          <pdoEntry idx="A020" subIdx="01" bitLen="8" halPin="Box-25-CANopen-22" halType="s32">
            <!--DEVICE 3 (EL6751)-Box-25-CANopen- -22-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="01" bitLen="8" halPin="Device-3-EL6751-23" halType="s32">
            <!--DEVICE 3 (EL6751)-Device-3-EL6751-23-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="03" bitLen="16" halPin="Device-3-EL6751-24" halType="s32">
            <!--DEVICE 3 (EL6751)-Device-3-EL6751-24-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="05" bitLen="8" halPin="Device-3-EL6751-25" halType="s32">
            <!--DEVICE 3 (EL6751)-Device-3-EL6751-25-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="04" bitLen="8" halPin="Device-3-EL6751-26" halType="s32">
            <!--DEVICE 3 (EL6751)-Device-3-EL6751-26-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="02" bitLen="1" halPin="Device-3-EL6751-27" halType="bit">
            <!--DEVICE 3 (EL6751)-Device-3-EL6751-27-->
          </pdoEntry>
          <pdoEntry idx="A000" subIdx="02" bitLen="1" halPin="Box-22-CANopen-28" halType="bit">
            <!--DEVICE 3 (EL6751)-Box-22-CANopen- -28-->
          </pdoEntry>
          <pdoEntry idx="A010" subIdx="02" bitLen="1" halPin="Box-24-CANopen-29" halType="bit">
            <!--DEVICE 3 (EL6751)-Box-24-CANopen- -29-->
          </pdoEntry>
          <pdoEntry idx="A020" subIdx="02" bitLen="1" halPin="Box-25-CANopen-30" halType="bit">
            <!--DEVICE 3 (EL6751)-Box-25-CANopen- -30-->
          </pdoEntry>
          <pdoEntry idx="0" bitLen="4" />
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="250000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="4" type="generic" vid="0x00000002" pid="0x1A4B3052" name="EL6731-4" configPdos="true">
      <sdoConfig idx="1C32" subIdx="complete">
        <sdoDataRaw data="0300030090D0030000000000" />
      </sdoConfig>
      <sdoConfig idx="1C33" subIdx="complete">
        <sdoDataRaw data="030022000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="F800" subIdx="complete">
        <sdoDataRaw data="11000109E8030B0020030910647E0401140005001000000000000500" />
      </sdoConfig>
      <sdoConfig idx="8000" subIdx="complete">
        <sdoDataRaw data="2D0010000000000000000000000080010000F400000000000702000000008801320B045D00F3F5" />
      </sdoConfig>
      <sdoConfig idx="8010" subIdx="complete">
        <sdoDataRaw data="2D0011000000000000000000000080010000F400000000000702000000008801320B045D00F3F5" />
      </sdoConfig>
      <sdoConfig idx="8020" subIdx="complete">
        <sdoDataRaw data="2D00120000000000000000000000800100000600000000000703000000008801320B05EB00B7A797" />
      </sdoConfig>
      <sdoConfig idx="8030" subIdx="complete">
        <sdoDataRaw data="2D00130000000000000000000000800100000D00000000000C02000000008801050B000A0000000000002111" />
      </sdoConfig>
      <sdoConfig idx="8040" subIdx="complete">
        <sdoDataRaw data="2D00140000000000000000000000A00100001100000000000702000000008801140B08CE00E7D9" />
      </sdoConfig>
      <sdoConfig idx="8050" subIdx="complete">
        <sdoDataRaw data="2D00150000000000000000000000A00100001100000000000702000000008801140B08CE00E7D9" />
      </sdoConfig>
      <sdoConfig idx="8060" subIdx="complete">
        <sdoDataRaw data="2D00160000000000000000000000A00100001100000000000702000000008801140B08CE00E7D9" />
      </sdoConfig>
      <sdoConfig idx="8070" subIdx="complete">
        <sdoDataRaw data="2D00170000000000000000000000A00100001100000000000702000000008801050B08CE00E7D9" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="080000160116021603160416051606160716" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0900001A011A021A031A041A051A061A071A801A" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="7000" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-64-31-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-64-31-1" halType="s32" />
            <!--BOX-2- -SERVOSTA-64-31-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="02" bitLen="96">
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-32-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-32-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-32-2" halType="s32" />
            <!--BOX-2- -SERVOSTA-96-32-->
          </pdoEntry>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="7004" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-64-33-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-64-33-1" halType="s32" />
            <!--BOX-6- -SERVOSTA-64-33-->
          </pdoEntry>
          <pdoEntry idx="7004" subIdx="02" bitLen="96">
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-34-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-34-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-34-2" halType="s32" />
            <!--BOX-6- -SERVOSTA-96-34-->
          </pdoEntry>
        </pdo>
        <pdo idx="1602">
          <pdoEntry idx="7008" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-35-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-35-1" halType="s32" />
            <!--BOX-7- -KEB-DP-F-64-35-->
          </pdoEntry>
          <pdoEntry idx="7008" subIdx="02" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-36-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-36-1" halType="s32" />
            <!--BOX-7- -KEB-DP-F-64-36-->
          </pdoEntry>
        </pdo>
        <pdo idx="1603">
          <pdoEntry idx="700C" subIdx="01" bitLen="16" halPin="Outputs-2-Byte-37" halType="s32">
            <!--BOX 9 (B-16DI/16DO    DP             )_OUT-Outputs-2-Byte- -37-->
          </pdoEntry>
        </pdo>
        <pdo idx="1604">
          <pdoEntry idx="7010" subIdx="01" bitLen="128">
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-128-38-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-128-38-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-128-38-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-128-38-3" halType="s32" />
            <!--BOX-8- -ARS2000- -128-38-->
          </pdoEntry>
        </pdo>
        <pdo idx="1605">
          <pdoEntry idx="7014" subIdx="01" bitLen="128">
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-128-39-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-128-39-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-128-39-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-128-39-3" halType="s32" />
            <!--BOX-1- -ARS2000- -128-39-->
          </pdoEntry>
        </pdo>
        <pdo idx="1606">
          <pdoEntry idx="7018" subIdx="01" bitLen="128">
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-128-40-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-128-40-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-128-40-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-128-40-3" halType="s32" />
            <!--BOX-10- -ARS2000-128-40-->
          </pdoEntry>
        </pdo>
        <pdo idx="1607">
          <pdoEntry idx="701C" subIdx="01" bitLen="128">
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-128-41-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-128-41-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-128-41-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-128-41-3" halType="s32" />
            <!--BOX-14- -ARS2000-128-41-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6000" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-64-42-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-64-42-1" halType="s32" />
            <!--BOX-2- -SERVOSTA-64-42-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="96">
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-43-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-43-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-2-SERVOSTA-96-43-2" halType="s32" />
            <!--BOX-2- -SERVOSTA-96-43-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="6004" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-64-44-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-64-44-1" halType="s32" />
            <!--BOX-6- -SERVOSTA-64-44-->
          </pdoEntry>
          <pdoEntry idx="6004" subIdx="02" bitLen="96">
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-45-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-45-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-6-SERVOSTA-96-45-2" halType="s32" />
            <!--BOX-6- -SERVOSTA-96-45-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A02">
          <pdoEntry idx="6008" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-46-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-46-1" halType="s32" />
            <!--BOX-7- -KEB-DP-F-64-46-->
          </pdoEntry>
          <pdoEntry idx="6008" subIdx="02" bitLen="64">
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-47-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-7-KEB-DP-F-64-47-1" halType="s32" />
            <!--BOX-7- -KEB-DP-F-64-47-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A03">
          <pdoEntry idx="600C" subIdx="01" bitLen="16" halPin="Inputs-2-Byte-O-48" halType="s32">
            <!--BOX 9 (B-16DI/16DO    DP             )_IN-Inputs-2-Byte-O-48-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A04">
          <pdoEntry idx="6010" subIdx="01" bitLen="160">
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-160-49-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-160-49-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-160-49-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-160-49-3" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-8-ARS2000-160-49-4" halType="s32" />
            <!--BOX-8- -ARS2000- -160-49-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A05">
          <pdoEntry idx="6014" subIdx="01" bitLen="160">
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-160-50-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-160-50-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-160-50-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-160-50-3" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-1-ARS2000-160-50-4" halType="s32" />
            <!--BOX-1- -ARS2000- -160-50-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A06">
          <pdoEntry idx="6018" subIdx="01" bitLen="160">
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-160-51-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-160-51-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-160-51-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-160-51-3" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-10-ARS2000-160-51-4" halType="s32" />
            <!--BOX-10- -ARS2000-160-51-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A07">
          <pdoEntry idx="601C" subIdx="01" bitLen="160">
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-160-52-0" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-160-52-1" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-160-52-2" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-160-52-3" halType="s32" />
            <complexEntry bitLen="32" halPin="BOX-14-ARS2000-160-52-4" halType="s32" />
            <!--BOX-14- -ARS2000-160-52-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A80">
          <pdoEntry idx="A000" subIdx="01" bitLen="8" halPin="Box-2-Servostar-53" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-2-Servostar-53-->
          </pdoEntry>
          <pdoEntry idx="A010" subIdx="01" bitLen="8" halPin="Box-6-Servostar-54" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-6-Servostar-54-->
          </pdoEntry>
          <pdoEntry idx="A020" subIdx="01" bitLen="8" halPin="Box-7-KEB-DP-F5-55" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-7-KEB-DP-F5-55-->
          </pdoEntry>
          <pdoEntry idx="A030" subIdx="01" bitLen="8" halPin="Box-9-B-16DI/16-56" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-9-B-16DI/16-56-->
          </pdoEntry>
          <pdoEntry idx="A040" subIdx="01" bitLen="8" halPin="Box-8-ARS2000-D-57" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-8-ARS2000-D-57-->
          </pdoEntry>
          <pdoEntry idx="A050" subIdx="01" bitLen="8" halPin="Box-1-ARS2000-D-58" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-1-ARS2000-D-58-->
          </pdoEntry>
          <pdoEntry idx="A060" subIdx="01" bitLen="8" halPin="Box-10-ARS2000-59" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-10-ARS2000- -59-->
          </pdoEntry>
          <pdoEntry idx="A070" subIdx="01" bitLen="8" halPin="Box-14-ARS2000-60" halType="s32">
            <!--DEVICE 1 (EL6731)-Box-14-ARS2000- -60-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="01" bitLen="8" halPin="Device-1-EL6731-61" halType="s32">
            <!--DEVICE 1 (EL6731)-Device-1-EL6731-61-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="03" bitLen="8" halPin="Device-1-EL6731-62" halType="s32">
            <!--DEVICE 1 (EL6731)-Device-1-EL6731-62-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="02" bitLen="1" halPin="Device-1-EL6731-63" halType="bit">
            <!--DEVICE 1 (EL6731)-Device-1-EL6731-63-->
          </pdoEntry>
          <pdoEntry idx="A000" subIdx="02" bitLen="1" halPin="Box-2-Servostar-64" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-2-Servostar-64-->
          </pdoEntry>
          <pdoEntry idx="A010" subIdx="02" bitLen="1" halPin="Box-6-Servostar-65" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-6-Servostar-65-->
          </pdoEntry>
          <pdoEntry idx="A020" subIdx="02" bitLen="1" halPin="Box-7-KEB-DP-F5-66" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-7-KEB-DP-F5-66-->
          </pdoEntry>
          <pdoEntry idx="A030" subIdx="02" bitLen="1" halPin="Box-9-B-16DI/16-67" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-9-B-16DI/16-67-->
          </pdoEntry>
          <pdoEntry idx="A040" subIdx="02" bitLen="1" halPin="Box-8-ARS2000-D-68" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-8-ARS2000-D-68-->
          </pdoEntry>
          <pdoEntry idx="A050" subIdx="02" bitLen="1" halPin="Box-1-ARS2000-D-69" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-1-ARS2000-D-69-->
          </pdoEntry>
          <pdoEntry idx="A060" subIdx="02" bitLen="1" halPin="Box-10-ARS2000-70" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-10-ARS2000- -70-->
          </pdoEntry>
          <pdoEntry idx="A070" subIdx="02" bitLen="1" halPin="Box-14-ARS2000-71" halType="bit">
            <!--DEVICE 1 (EL6731)-Box-14-ARS2000- -71-->
          </pdoEntry>
          <pdoEntry idx="0" bitLen="7" />
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="0" sync1Cycle="100000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="5" type="generic" vid="0x00000002" pid="0x19E73052" name="EL6631-5" configPdos="true">
      <sdoConfig idx="F800" subIdx="complete">
        <sdoDataRaw data="0F000100656C363633312D706E636F6E74726F6C6C657200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002500200160EA48EEC0A80101FFFFFF00C0A80101C0A838010501FFFF000000000300000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="F820" subIdx="complete">
        <sdoDataRaw data="0200C0A8380101015303" />
      </sdoConfig>
      <sdoConfig idx="8000" subIdx="complete">
        <sdoDataRaw data="3A00636D6D702D61732D6D332D3000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002024D0100001B10C0A83801050100000100C0A80103FFFFFF00C0A8010100C001000000010001000100020005000200000000000000000000000000000000000000200001000100030000000000020000000000000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="8002" subIdx="complete">
        <sdoDataRaw data="4B0000000000000001000100010000000100000000000000000000000800000000000000000000000000000000000000000000000000000000000000000000000000008001000100010001000000000000000000010002000503240980003200E803000000000000000000000000400003000000000000000000000000000180010001000100010000000000000000000200040040014800000000000000000000000000000000000000000000000000000000000000028001000100010001000000000000000000030004004001480000000000000000000000000000000000000000000000000000000000010001000100000001000000080000000800000004000800000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="8010" subIdx="complete">
        <sdoDataRaw data="3A00636D6D702D61732D6D332D3100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002024D0100001D10C0A83801050100000100C0A80103FFFFFF00C0A8010100C001000000010001000100020005000200000000000000000000000000000000000000200001000100030000000000020000000000000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="8012" subIdx="complete">
        <sdoDataRaw data="4B0000000000000001000100010000000100000000000000000000000800000000000000000000000000000000000000000000000000000000000000000000000000008001000100010001000000000000000000010002000503240980003200E803000000000000000000000000400003000000000000000000000000000180010001000100010000000000000000000200040040014800000000000000000000000000000000000000000000000000000000000000028001000100010001000000000000000000030004004001480000000000000000000000000000000000000000000000000000000000010001000100000001000000080000000800000004000800000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="8020" subIdx="complete">
        <sdoDataRaw data="3A00636D6D702D61732D6D332D3200000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002024D0100001C10C0A83801050100000100C0A80103FFFFFF00C0A8010100C001000000010001000100020005000200000000000000000000000000000000000000200001000100030000000000020000000000000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="8022" subIdx="complete">
        <sdoDataRaw data="4B0000000000000001000100010000000100000000000000000000000800000000000000000000000000000000000000000000000000000000000000000000000000008001000100010001000000000000000000010002000503240980003200E803000000000000000000000000400003000000000000000000000000000180010001000100010000000000000000000200040040014800000000000000000000000000000000000000000000000000000000000000028001000100010001000000000000000000030004004001480000000000000000000000000000000000000000000000000000000000010001000100000001000000080000000800000004000800000000000000000000000000000000000000000000000000000000000000" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="0300100100601002006040010160" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="02001001007040010170" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="0300100100601002006040011160" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001001007040011170" />
      </sdoConfig>
      <sdoConfig idx="1A02" subIdx="complete">
        <sdoDataRaw data="0300100100601002006040012160" />
      </sdoConfig>
      <sdoConfig idx="1602" subIdx="complete">
        <sdoDataRaw data="02001001007040012170" />
      </sdoConfig>
      <sdoConfig idx="1BFE" subIdx="complete">
        <sdoDataRaw data="0300100100F1100200F1100300F1" />
      </sdoConfig>
      <sdoConfig idx="17FE" subIdx="complete">
        <sdoDataRaw data="0100100100F2" />
      </sdoConfig>
      <sdoConfig idx="1BFF" subIdx="complete">
        <sdoDataRaw data="0100100101F1" />
      </sdoConfig>
      <sdoConfig idx="17FF" subIdx="complete">
        <sdoDataRaw data="0100100101F2" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="0500001601160216FE17FF17" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0500001A011A021AFE1BFF1B" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-72" halType="s32">
            <!--CMMP-AS-M3_OUTPUTS-cmmp-as-m3-PnIo-72-->
          </pdoEntry>
          <pdoEntry idx="7001" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-73-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-73-1" halType="s32" />
            <!--CMMP-AS-M3-OUTP-64-73-->
          </pdoEntry>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-74" halType="s32">
            <!--CMMP-AS-M3_OUTPUTS-cmmp-as-m3-PnIo-74-->
          </pdoEntry>
          <pdoEntry idx="7011" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-75-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-75-1" halType="s32" />
            <!--CMMP-AS-M3-OUTP-64-75-->
          </pdoEntry>
        </pdo>
        <pdo idx="1602">
          <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-76" halType="s32">
            <!--CMMP-AS-M3_OUTPUTS-cmmp-as-m3-PnIo-76-->
          </pdoEntry>
          <pdoEntry idx="7021" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-77-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-OUTP-64-77-1" halType="s32" />
            <!--CMMP-AS-M3-OUTP-64-77-->
          </pdoEntry>
        </pdo>
        <pdo idx="17FE">
          <pdoEntry idx="F200" subIdx="01" bitLen="16" halPin="Device-4-DevCtr-78" halType="s32">
            <!--DEVICE_4_PROTOCOLCTRL-Device-4-DevCtr-78-->
          </pdoEntry>
        </pdo>
        <pdo idx="17FF">
          <pdoEntry idx="F201" subIdx="01" bitLen="16" halPin="Device-4-ECatCt-79" halType="s32">
            <!--ECATCTRL-Device-4-ECatCt-79-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-80" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-80-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="16" halPin="cmmp-as-m3-PnIo-81" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-81-->
          </pdoEntry>
          <pdoEntry idx="6001" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-82-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-82-1" halType="s32" />
            <!--CMMP-AS-M3-INPU-64-82-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-83" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-83-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="16" halPin="cmmp-as-m3-PnIo-84" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-84-->
          </pdoEntry>
          <pdoEntry idx="6011" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-85-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-85-1" halType="s32" />
            <!--CMMP-AS-M3-INPU-64-85-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A02">
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="cmmp-as-m3-PnIo-86" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-86-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="16" halPin="cmmp-as-m3-PnIo-87" halType="s32">
            <!--CMMP-AS-M3_INPUTS-cmmp-as-m3-PnIo-87-->
          </pdoEntry>
          <pdoEntry idx="6021" subIdx="01" bitLen="64">
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-88-0" halType="s32" />
            <complexEntry bitLen="32" halPin="CMMP-AS-M3-INPU-64-88-1" halType="s32" />
            <!--CMMP-AS-M3-INPU-64-88-->
          </pdoEntry>
        </pdo>
        <pdo idx="1BFE">
          <pdoEntry idx="F100" subIdx="01" bitLen="16" halPin="Device-4-DevSta-89" halType="s32">
            <!--DEVICE_4_PROTOCOLSTATE-Device-4-DevSta-89-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="02" bitLen="16" halPin="Device-4-PnIoEr-90" halType="s32">
            <!--DEVICE_4_PROTOCOLSTATE-Device-4-PnIoEr-90-->
          </pdoEntry>
          <pdoEntry idx="F100" subIdx="03" bitLen="16" halPin="Device-4-PnIoDi-91" halType="s32">
            <!--DEVICE_4_PROTOCOLSTATE-Device-4-PnIoDi-91-->
          </pdoEntry>
        </pdo>
        <pdo idx="1BFF">
          <pdoEntry idx="F101" subIdx="01" bitLen="16" halPin="Device-4-ECatSt-92" halType="s32">
            <!--ECATSTATE-Device-4-ECatSt-92-->
          </pdoEntry>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="6" type="generic" vid="0x00000002" pid="0x1C213052" name="EL7201-0001-6" configPdos="true">
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="020000160116" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0200001A011A" />
      </sdoConfig>
      <sdoConfig idx="F081" subIdx="complete">
        <sdoDataRaw data="01001500" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword-93" halType="s32">
            <!--DS402 CONTROLWORD-Controlword-93-->
          </pdoEntry>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="Target-velocity-94" halType="s32">
            <!--DS402 TARGET VELOCITY-Target-velocity-94-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword-95" halType="s32">
            <!--DS402 STATUSWORD-Statusword-95-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="Position-actual-96" halType="s32">
            <!--DS402 POSITION ACTUAL VALUE-Position-actual-96-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="7" type="generic" vid="0x000000F9" pid="0x01030F02" name="Digitax-HD-M753-RFC-S-7" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A02" subIdx="complete">
        <sdoDataRaw data="02001000416020006460" />
      </sdoConfig>
      <sdoConfig idx="1A04" subIdx="complete">
        <sdoDataRaw data="02001000416010007760" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1602" subIdx="complete">
        <sdoDataRaw data="02001000406020007A60" />
      </sdoConfig>
      <sdoConfig idx="1604" subIdx="complete">
        <sdoDataRaw data="02001000406010007160" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000216" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100021A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="60C2" subIdx="complete">
        <sdoDataRaw data="01" />
      </sdoConfig>
      <sdoConfig idx="60C2" subIdx="complete">
        <sdoDataRaw data="FD" />
      </sdoConfig>
      <sdoConfig idx="6060" subIdx="complete">
        <sdoDataRaw data="08" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1602">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-97" halType="s32">
            <!--RECEIVE PDO MAPPING 3-Control-word-97-->
          </pdoEntry>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="Target-position-98" halType="s32">
            <!--RECEIVE PDO MAPPING 3-Target-position-98-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A02">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-99" halType="s32">
            <!--TRANSMIT PDO MAPPING 3-Status-word-99-->
          </pdoEntry>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="Position-actual-100" halType="s32">
            <!--TRANSMIT PDO MAPPING 3-Position-actual-100-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="500000" sync1Cycle="0" sync1Shift="500000" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="8" type="generic" vid="0x00000002" pid="0x03F04052" name="EP1008-0001-8" configPdos="true">
      <syncManager idx="0" dir="out">
        <pdo idx="1A00">
          <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Input-101" halType="bit">
            <!--CHANNEL 1-Input-101-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="6010" subIdx="01" bitLen="1" halPin="Input-102" halType="bit">
            <!--CHANNEL 2-Input-102-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A02">
          <pdoEntry idx="6020" subIdx="01" bitLen="1" halPin="Input-103" halType="bit">
            <!--CHANNEL 3-Input-103-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A03">
          <pdoEntry idx="6030" subIdx="01" bitLen="1" halPin="Input-104" halType="bit">
            <!--CHANNEL 4-Input-104-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A04">
          <pdoEntry idx="6040" subIdx="01" bitLen="1" halPin="Input-105" halType="bit">
            <!--CHANNEL 5-Input-105-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A05">
          <pdoEntry idx="6050" subIdx="01" bitLen="1" halPin="Input-106" halType="bit">
            <!--CHANNEL 6-Input-106-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A06">
          <pdoEntry idx="6060" subIdx="01" bitLen="1" halPin="Input-107" halType="bit">
            <!--CHANNEL 7-Input-107-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A07">
          <pdoEntry idx="6070" subIdx="01" bitLen="1" halPin="Input-108" halType="bit">
            <!--CHANNEL 8-Input-108-->
          </pdoEntry>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="9" type="generic" vid="0x0000006A" pid="0x03000700" name="S300-S700-9" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000016" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100001A" />
      </sdoConfig>
      <sdoConfig idx="6060" subIdx="complete">
        <sdoDataRaw data="FE" />
      </sdoConfig>
      <sdoConfig idx="60C2" subIdx="complete">
        <sdoDataRaw data="01" />
      </sdoConfig>
      <sdoConfig idx="60C2" subIdx="complete">
        <sdoDataRaw data="FD" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-109" halType="s32">
            <!--OUTPUTS-Control-word-109-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-110" halType="s32">
            <!--INPUTS-Status-word-110-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="10" type="generic" vid="0x0000001D" pid="0x502D4153" name="CMMP-AS-V4p0-CiA402-10" configPdos="true">
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="01">
        <sdoDataRaw data="10004160" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="02">
        <sdoDataRaw data="08006160" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="03">
        <sdoDataRaw data="20006460" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="04">
        <sdoDataRaw data="08000110" />
      </sdoConfig>
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="04" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="01">
        <sdoDataRaw data="20006C60" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="02">
        <sdoDataRaw data="2000F460" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="00">
        <sdoDataRaw data="02" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="01">
        <sdoDataRaw data="10004060" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="02">
        <sdoDataRaw data="08006060" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="03">
        <sdoDataRaw data="2001C160" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="04">
        <sdoDataRaw data="08009860" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="00">
        <sdoDataRaw data="04" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="00">
        <sdoDataRaw data="00" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="01">
        <sdoDataRaw data="20007A60" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="02">
        <sdoDataRaw data="20008160" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="00">
        <sdoDataRaw data="02" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="01">
        <sdoDataRaw data="0016" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="02">
        <sdoDataRaw data="0116" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="02" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="01">
        <sdoDataRaw data="001A" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="02">
        <sdoDataRaw data="011A" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="02" />
      </sdoConfig>
      <sdoConfig idx="1400" subIdx="01">
        <sdoDataRaw data="01020040" />
      </sdoConfig>
      <sdoConfig idx="1401" subIdx="01">
        <sdoDataRaw data="01030040" />
      </sdoConfig>
      <sdoConfig idx="1800" subIdx="01">
        <sdoDataRaw data="81010040" />
      </sdoConfig>
      <sdoConfig idx="1801" subIdx="01">
        <sdoDataRaw data="81020040" />
      </sdoConfig>
      <sdoConfig idx="60C4" subIdx="06">
        <sdoDataRaw data="01" />
      </sdoConfig>
      <sdoConfig idx="6060" subIdx="00">
        <sdoDataRaw data="07" />
      </sdoConfig>
      <sdoConfig idx="607D" subIdx="01">
        <sdoDataRaw data="00000080" />
      </sdoConfig>
      <sdoConfig idx="607D" subIdx="02">
        <sdoDataRaw data="FFFFFF7F" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword-111" halType="s32">
            <!--OUTPUTS-Controlword-111-->
          </pdoEntry>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="Mode-Of-Operati-112" halType="s32">
            <!--OUTPUTS-Mode-Of-Operati-112-->
          </pdoEntry>
          <pdoEntry idx="60C1" subIdx="01" bitLen="32" halPin="IP-Data-Record-113" halType="s32">
            <!--OUTPUTS-IP-Data-Record-113-->
          </pdoEntry>
          <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="Homing-Method-114" halType="s32">
            <!--OUTPUTS-Homing-Method-114-->
          </pdoEntry>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="Target-Position-115" halType="s32">
            <!--OUTPUTS-Target-Position-115-->
          </pdoEntry>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="Profile-Velocit-116" halType="s32">
            <!--OUTPUTS-Profile-Velocit-116-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword-117" halType="s32">
            <!--INPUTS-Statusword-117-->
          </pdoEntry>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="Mode-Of-Operati-118" halType="s32">
            <!--INPUTS-Mode-Of-Operati-118-->
          </pdoEntry>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="Position-Actual-119" halType="s32">
            <!--INPUTS-Position-Actual-119-->
          </pdoEntry>
          <pdoEntry idx="1001" subIdx="00" bitLen="8" halPin="Error-Register-120" halType="s32">
            <!--INPUTS-Error-Register-120-->
          </pdoEntry>
        </pdo>
        <pdo idx="1A01">
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="Velocity-Actual-121" halType="s32">
            <!--INPUTS-Velocity-Actual-121-->
          </pdoEntry>
          <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="Following-Error-122" halType="s32">
            <!--INPUTS-Following-Error-122-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="11" type="generic" vid="0x000000F9" pid="0x01010803" name="Commander-C200-Open-Loop-11" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000516" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100051A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1605">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-123" halType="s32">
            <!--RECEIVE PDO MAPPING 6-Control-word-123-->
          </pdoEntry>
          <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="vl-target-veloc-124" halType="s32">
            <!--RECEIVE PDO MAPPING 6-vl-target-veloc-124-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A05">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-125" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-Status-word-125-->
          </pdoEntry>
          <pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="vl-velocity-act-126" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-vl-velocity-act-126-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
    </slave>
    <slave idx="12" type="generic" vid="0x000000F9" pid="0x01010803" name="Commander-C200-Open-Loop-12" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000516" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100051A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1605">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-127" halType="s32">
            <!--RECEIVE PDO MAPPING 6-Control-word-127-->
          </pdoEntry>
          <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="vl-target-veloc-128" halType="s32">
            <!--RECEIVE PDO MAPPING 6-vl-target-veloc-128-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A05">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-129" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-Status-word-129-->
          </pdoEntry>
          <pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="vl-velocity-act-130" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-vl-velocity-act-130-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
    </slave>
    <slave idx="13" type="generic" vid="0x000000F9" pid="0x01010803" name="Commander-C200-Open-Loop-13" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000516" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100051A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1605">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-131" halType="s32">
            <!--RECEIVE PDO MAPPING 6-Control-word-131-->
          </pdoEntry>
          <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="vl-target-veloc-132" halType="s32">
            <!--RECEIVE PDO MAPPING 6-vl-target-veloc-132-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A05">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-133" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-Status-word-133-->
          </pdoEntry>
          <pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="vl-velocity-act-134" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-vl-velocity-act-134-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
    </slave>
    <slave idx="14" type="generic" vid="0x000000F9" pid="0x01010803" name="Commander-C200-Open-Loop-14" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000516" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100051A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1605">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-135" halType="s32">
            <!--RECEIVE PDO MAPPING 6-Control-word-135-->
          </pdoEntry>
          <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="vl-target-veloc-136" halType="s32">
            <!--RECEIVE PDO MAPPING 6-vl-target-veloc-136-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A05">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-137" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-Status-word-137-->
          </pdoEntry>
          <pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="vl-velocity-act-138" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-vl-velocity-act-138-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
    </slave>
    <slave idx="15" type="generic" vid="0x000000F9" pid="0x01010803" name="Commander-C200-Open-Loop-15" configPdos="true">
      <sdoConfig idx="1A00" subIdx="complete">
        <sdoDataRaw data="010010004160" />
      </sdoConfig>
      <sdoConfig idx="1A01" subIdx="complete">
        <sdoDataRaw data="02001000416008006160" />
      </sdoConfig>
      <sdoConfig idx="1A05" subIdx="complete">
        <sdoDataRaw data="02001000416010004460" />
      </sdoConfig>
      <sdoConfig idx="1600" subIdx="complete">
        <sdoDataRaw data="010010004060" />
      </sdoConfig>
      <sdoConfig idx="1601" subIdx="complete">
        <sdoDataRaw data="02001000406008006060" />
      </sdoConfig>
      <sdoConfig idx="1605" subIdx="complete">
        <sdoDataRaw data="02001000406010004260" />
      </sdoConfig>
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000516" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100051A" />
      </sdoConfig>
      <sdoConfig idx="1C14" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <sdoConfig idx="1C15" subIdx="complete">
        <sdoDataRaw data="0000" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1605">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Control-word-139" halType="s32">
            <!--RECEIVE PDO MAPPING 6-Control-word-139-->
          </pdoEntry>
          <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="vl-target-veloc-140" halType="s32">
            <!--RECEIVE PDO MAPPING 6-vl-target-veloc-140-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A05">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Status-word-141" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-Status-word-141-->
          </pdoEntry>
          <pdoEntry idx="6044" subIdx="00" bitLen="16" halPin="vl-velocity-act-142" halType="s32">
            <!--TRANSMIT PDO MAPPING 6-vl-velocity-act-142-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="4" dir="out" />
      <syncManager idx="5" dir="in" />
    </slave>
    <slave idx="16" type="generic" vid="0x00000002" pid="0x13EF6012" name="AX5103-0000-0203-16" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>080008003300bd0035002183</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe1f000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-143" halType="s32">
            <!--MDT-Master-control- -143-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-144" halType="s32">
            <!--MDT-Position-comman-144-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-145" halType="s32">
            <!--AT-Drive-status-wo-145-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-146" halType="s32">
            <!--AT-Position-feedba-146-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-147" halType="s32">
            <!--AT-Following-dista-147-->
          </pdoEntry>
          <pdoEntry idx="35" subIdx="00" bitLen="32" halPin="Position-feedba-148" halType="s32">
            <!--AT-Position-feedba-148-->
          </pdoEntry>
          <pdoEntry idx="8321" subIdx="00" bitLen="16" halPin="Digital-inputs-149" halType="s32">
            <!--AT-Digital-inputs- -149-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="50000" sync1Cycle="750000" sync1Shift="50000" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="17" type="generic" vid="0x00000002" pid="0x13EF6012" name="AX5103-0000-0203-17" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe1f000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Logger message level]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>33072</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0100</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-150" halType="s32">
            <!--MDT-Master-control- -150-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-151" halType="s32">
            <!--MDT-Position-comman-151-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-152" halType="s32">
            <!--AT-Drive-status-wo-152-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-153" halType="s32">
            <!--AT-Position-feedba-153-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-154" halType="s32">
            <!--AT-Following-dista-154-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="50000" sync1Cycle="750000" sync1Shift="50000" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="18" type="generic" vid="0x00000002" pid="0x13EF6012" name="AX5103-0000-0203-18" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe1f000000000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-155" halType="s32">
            <!--MDT-Master-control- -155-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-156" halType="s32">
            <!--MDT-Position-comman-156-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-157" halType="s32">
            <!--AT-Drive-status-wo-157-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-158" halType="s32">
            <!--AT-Position-feedba-158-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-159" halType="s32">
            <!--AT-Following-dista-159-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="50000" sync1Cycle="750000" sync1Shift="50000" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="19" type="generic" vid="0x00000002" pid="0x14536012" name="AX5203-0000-0215-19" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-160" halType="s32">
            <!--MDT 1-Master-control- -160-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-161" halType="s32">
            <!--MDT 1-Position-comman-161-->
          </pdoEntry>
        </pdo>
        <pdo idx="1018">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-162" halType="s32">
            <!--MDT 2-Master-control- -162-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-163" halType="s32">
            <!--MDT 2-Position-comman-163-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-164" halType="s32">
            <!--AT 1-Drive-status-wo-164-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-165" halType="s32">
            <!--AT 1-Position-feedba-165-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-166" halType="s32">
            <!--AT 1-Following-dista-166-->
          </pdoEntry>
        </pdo>
        <pdo idx="1010">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-167" halType="s32">
            <!--AT 2-Drive-status-wo-167-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-168" halType="s32">
            <!--AT 2-Position-feedba-168-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-169" halType="s32">
            <!--AT 2-Following-dista-169-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="20" type="generic" vid="0x00000002" pid="0x14536012" name="AX5203-0000-0215-20" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-170" halType="s32">
            <!--MDT 1-Master-control- -170-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-171" halType="s32">
            <!--MDT 1-Position-comman-171-->
          </pdoEntry>
        </pdo>
        <pdo idx="1018">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-172" halType="s32">
            <!--MDT 2-Master-control- -172-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-173" halType="s32">
            <!--MDT 2-Position-comman-173-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-174" halType="s32">
            <!--AT 1-Drive-status-wo-174-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-175" halType="s32">
            <!--AT 1-Position-feedba-175-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-176" halType="s32">
            <!--AT 1-Following-dista-176-->
          </pdoEntry>
        </pdo>
        <pdo idx="1010">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-177" halType="s32">
            <!--AT 2-Drive-status-wo-177-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-178" halType="s32">
            <!--AT 2-Position-feedba-178-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-179" halType="s32">
            <!--AT 2-Following-dista-179-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="21" type="generic" vid="0x00000002" pid="0x14536012" name="AX5203-0000-0215-21" configPdos="true">
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[AT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>16</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>040004003300bd00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd Fixed="true">
        <Transition>PS</Transition>
        <Comment><![CDATA[MDT list]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>24</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>020002002f00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>IP</Transition>
        <Comment><![CDATA[Feature flags]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32778</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>fe7ff90700000000</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tncyc - NC cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>1</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Tscyc - Comm cycle time]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>2</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>e803</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Operation mode]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>1</DriveNo>
        <IDN>32</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0b00</Data>
      </InitCmd>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="18">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-180" halType="s32">
            <!--MDT 1-Master-control- -180-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-181" halType="s32">
            <!--MDT 1-Position-comman-181-->
          </pdoEntry>
        </pdo>
        <pdo idx="1018">
          <pdoEntry idx="86" subIdx="00" bitLen="16" halPin="Master-control-182" halType="s32">
            <!--MDT 2-Master-control- -182-->
          </pdoEntry>
          <pdoEntry idx="2F" subIdx="00" bitLen="32" halPin="Position-comman-183" halType="s32">
            <!--MDT 2-Position-comman-183-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="10">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-184" halType="s32">
            <!--AT 1-Drive-status-wo-184-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-185" halType="s32">
            <!--AT 1-Position-feedba-185-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-186" halType="s32">
            <!--AT 1-Following-dista-186-->
          </pdoEntry>
        </pdo>
        <pdo idx="1010">
          <pdoEntry idx="87" subIdx="00" bitLen="16" halPin="Drive-status-wo-187" halType="s32">
            <!--AT 2-Drive-status-wo-187-->
          </pdoEntry>
          <pdoEntry idx="33" subIdx="00" bitLen="32" halPin="Position-feedba-188" halType="s32">
            <!--AT 2-Position-feedba-188-->
          </pdoEntry>
          <pdoEntry idx="BD" subIdx="00" bitLen="32" halPin="Following-dista-189" halType="s32">
            <!--AT 2-Following-dista-189-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
    <slave idx="22" type="generic" vid="0x00000002" pid="0x13ED4052" name="EP5101-0011-22" configPdos="true">
      <sdoConfig idx="1C12" subIdx="complete">
        <sdoDataRaw data="01000116" />
      </sdoConfig>
      <sdoConfig idx="1C13" subIdx="complete">
        <sdoDataRaw data="0100011A" />
      </sdoConfig>
      <syncManager idx="0" dir="out" />
      <syncManager idx="1" dir="in" />
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="Control-Enable-190" halType="bit">
            <!--ENC CONTROL-Control- -Enable-190-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="Control-Enable-191" halType="bit">
            <!--ENC CONTROL-Control- -Enable-191-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="Control-Set-co-192" halType="bit">
            <!--ENC CONTROL-Control- -Set-co-192-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="Control-Enable-193" halType="bit">
            <!--ENC CONTROL-Control- -Enable-193-->
          </pdoEntry>
          <pdoEntry idx="0" bitLen="4" halPin="Control--194" halType="s32">
            <!--ENC CONTROL-Control- - -194-->
          </pdoEntry>
          <pdoEntry idx="0" bitLen="8" halPin="Control--195" halType="s32">
            <!--ENC CONTROL-Control- - -195-->
          </pdoEntry>
          <pdoEntry idx="7000" subIdx="17" bitLen="32" halPin="Set-counter-val-196" halType="s32">
            <!--ENC CONTROL-Set-counter-val-196-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1A01">
          <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="Status-Latch-C-197" halType="bit">
            <!--ENC STATUS-Status- -Latch-C-197-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="Status-Latch-e-198" halType="bit">
            <!--ENC STATUS-Status- -Latch-e-198-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="Status-Set-cou-199" halType="bit">
            <!--ENC STATUS-Status- -Set-cou-199-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="Status-Counter-200" halType="bit">
            <!--ENC STATUS-Status- -Counter-200-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="Status-Counter-201" halType="bit">
            <!--ENC STATUS-Status- -Counter-201-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="Status-Status-202" halType="bit">
            <!--ENC STATUS-Status- -Status- -202-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="Status-Open-ci-203" halType="bit">
            <!--ENC STATUS-Status- -Open-ci-203-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="Status-Extrapo-204" halType="bit">
            <!--ENC STATUS-Status- -Extrapo-204-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="Status-Status-205" halType="bit">
            <!--ENC STATUS-Status- -Status- -205-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="10" bitLen="1" halPin="Status-Status-206" halType="bit">
            <!--ENC STATUS-Status- -Status- -206-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="11" bitLen="1" halPin="Status-Status-207" halType="bit">
            <!--ENC STATUS-Status- -Status- -207-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="12" bitLen="1" halPin="Status-Status-208" halType="bit">
            <!--ENC STATUS-Status- -Status- -208-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="13" bitLen="1" halPin="Status-Status-209" halType="bit">
            <!--ENC STATUS-Status- -Status- -209-->
          </pdoEntry>
          <pdoEntry idx="1C32" subIdx="32" bitLen="1" halPin="Status-Sync-er-210" halType="bit">
            <!--ENC STATUS-Status- -Sync-er-210-->
          </pdoEntry>
          <pdoEntry idx="1801" subIdx="07" bitLen="1" halPin="Status-TxPDO-S-211" halType="bit">
            <!--ENC STATUS-Status- -TxPDO-S-211-->
          </pdoEntry>
          <pdoEntry idx="1801" subIdx="09" bitLen="1" halPin="Status-TxPDO-T-212" halType="bit">
            <!--ENC STATUS-Status- -TxPDO-T-212-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="17" bitLen="32" halPin="Counter-value-213" halType="s32">
            <!--ENC STATUS-Counter-value-213-->
          </pdoEntry>
          <pdoEntry idx="6000" subIdx="18" bitLen="32" halPin="Latch-value-214" halType="s32">
            <!--ENC STATUS-Latch-value-214-->
          </pdoEntry>
        </pdo>
      </syncManager>
      <dcConf assignActivate="1000" sync0Cycle="1000000" sync0Shift="0" sync1Cycle="0" sync1Shift="0" />
      <!--IMPORTANT: sometime (sync1Cycle = n * sync0Cycle) sync1Cycle must be appTimePeriod - sync0Cycle)-->
      <!--Check your DC config...generated is from impoted .xml but assignActivate is hard coded ... it should be different-->
    </slave>
  </master>
</masters>