<masters>
	<master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
	  <slave idx="0" type="generic" vid="0000066f" pid="525100a1" configPdos="true">
		<syncManager idx="0" dir="out">
		</syncManager>
		<syncManager idx="1" dir="in">
		</syncManager>
		<syncManager idx="2" dir="out">
		  <pdo idx="1602">
		    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
			<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="bit"/>
		    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="1000"/>
		    <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobe" halType="float" scale="10"/>
		  </pdo>
		</syncManager>
		<syncManager idx="3" dir="in">
		  <pdo idx="1A02">
			<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorstatus" halType="bit"/>
		    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
			<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode_fb" halType="bit"/>
		    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.00100"/>
		    <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital_inputs" halType="bit"/>
		  </pdo>
		</syncManager>
		<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
	  </slave>
 	  <slave idx="1" type="generic" vid="0000066f" pid="525100a1" configPdos="true">
		<syncManager idx="0" dir="out">
		</syncManager>
		<syncManager idx="1" dir="in">
		</syncManager>
		<syncManager idx="2" dir="out">
		  <pdo idx="1602">
		    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
			<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="bit"/>
		    <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="1000"/>
		    <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touchprobe" halType="float" scale="10"/>
		  </pdo>
		</syncManager>
		<syncManager idx="3" dir="in">
		  <pdo idx="1A02">
			<pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorstatus" halType="bit"/>
		    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
			<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode_fb" halType="bit"/>
		    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.00100"/>
		    <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital_inputs" halType="bit"/>
		  </pdo>
		</syncManager>
		<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
	  </slave>
	</master>
</masters>
