<masters>
   <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
      <slave idx="0" type="generic" vid="00000766" pid="00000402" configPdos="true">
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
         <syncManager idx="2" dir="out">
    	    <pdo idx="1600">
		<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
		<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
		<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="probe-cmd" halType="u32"/>
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
            </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
	        <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
                <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="probe1-rising" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="mydigitalin" halType="u32"/>
		<pdoEntry idx="60FC" subIdx="00" bitLen="32" halPin="pos-cmd" halType="s32"/>
		<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
		<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="probe-status" halType="u32"/>
		<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>

            </pdo>
         </syncManager>
      </slave>

      <slave idx="1" type="generic" vid="00000766" pid="00000402" configPdos="true">
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
         <syncManager idx="2" dir="out">
	     <pdo idx="1600">
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
		<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
		<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="probe-cmd" halType="u32"/>
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
		<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
            </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
	        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
	        <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
                <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="probe1-rising" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="mydigitalin" halType="u32"/>
		<pdoEntry idx="60FC" subIdx="00" bitLen="32" halPin="pos-cmd" halType="s32"/>
		<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
		<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="probe-status" halType="u32"/>
		<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
	    </pdo>
         </syncManager>
      </slave>

      <slave idx="2" type="generic" vid="00000766" pid="00000402" configPdos="true">
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
         <syncManager idx="2" dir="out">
            <pdo idx="1600">
		<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
		<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
		<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="probe-cmd" halType="u32"/>
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>

            </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
  	        <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
	        <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
                <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="probe1-rising" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="mydigitalin" halType="u32"/>
		<pdoEntry idx="60FC" subIdx="00" bitLen="32" halPin="pos-cmd" halType="s32"/>
		<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
		<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="probe-status" halType="u32"/>
		<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
	    </pdo>
         </syncManager>
      </slave>

      <slave idx="3" type="generic" vid="00000766" pid="00000402" configPdos="true">
         <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
         <syncManager idx="2" dir="out">
            <pdo idx="1600">
	        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
		<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
		<pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="probe-cmd" halType="u32"/>
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
		<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
            </pdo>
         </syncManager>
         <syncManager idx="3" dir="in">
            <pdo idx="1a00">
		<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
	        <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
                <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="probe1-rising" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="mydigitalin" halType="u32"/>
		<pdoEntry idx="60FC" subIdx="00" bitLen="32" halPin="pos-cmd" halType="s32"/>
		<pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
		<pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="probe-status" halType="u32"/>
		<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
            </pdo>
         </syncManager>
      </slave>
   </master>
</masters>
