<masters>
        <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000" name="m0">
        <!-- Beckhoff IO modules -->
                <!-- <slave idx="0" type="EK1101" name="0501_EK1101"/> -->
                <slave idx="0" type="generic" vid="0x00000002" pid="0x044d2c52" configPdos="true" name="0501_EK1101">
                        <syncManager idx="0" dir="in">
                                <pdo idx="1a00">
                                        <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="coupler-ID" halType="u32"/>
                                </pdo>
                        </syncManager>
                </slave>
        <!-- SSI Encoder on EL5002 -->
                <slave idx="1" type="EL5002" name="2001_EL5002">
                        <!-- <modParam name="ch0DisFrameErr" value="true"/> -->
                        <!-- <modParam name="ch0EnPwrFailChk" value="true"/> -->
                        <!-- <modParam name="ch0EnInhibitTime" value="true"/> -->
                        <modParam name="ch0Coding" value="1"/>
                        <modParam name="ch0Baudrate" value="2"/>
                        <modParam name="ch0ClkJitComp" value="1"/>
                        <modParam name="ch0FrameType" value="0"/>
                        <modParam name="ch0FrameSize" value="25"/>
                        <modParam name="ch0DataLen" value="25"/>
                        <!-- <modParam name="ch0MinInhibitTime" value="0"/> -->
                        <!-- <modParam name="ch0NoClkBursts" value="0"/> -->
                        <!-- <modParam name="ch1DisFrameErr" value="true"/> -->
                        <!-- <modParam name="ch1EnPwrFailChk" value="true"/> -->
                        <!-- <modParam name="ch1EnInhibitTime" value="true"/> -->
                        <!-- <modParam name="ch1Coding" value="0"/> -->
                        <!-- <modParam name="ch1Baudrate" value="0"/> -->
                        <!-- <modParam name="ch1ClkJitComp" value="0"/> -->
                        <!-- <modParam name="ch1FrameType" value="0"/> -->
                        <!-- <modParam name="ch1FrameSize" value="0"/> -->
                        <!-- <modParam name="ch1DataLen" value="0"/> -->
                        <!-- <modParam name="ch1MinInhibitTime" value="0"/> -->
                        <!-- <modParam name="ch1NoClkBursts" value="0"/> -->
                </slave>
        <!-- 32 Inputs, 10 µs (DB37) -->
                <slave idx="2" type="EL1819" name="0511_EL1819"/>
                <slave idx="3" type="EL1819" name="0512_EL1819"/>
        <!-- 32 Outputs, 0.5 A (DB37) -->
                <slave idx="4" type="EL2809" name="0521_EL2809"/>
                <slave idx="5" type="EL2809" name="0522_EL2809"/>
        <!-- 4 Axis driver -->
                <slave idx="6" type="EL4034" name="0531_EL4034"/>
        <!-- EP5101 - Incr. Encoder Input -->
                <slave idx="7" type="generic" vid="0x00000002" pid="0x13ed4052" name="7">
                <initCmds filename="initCMDs_EP5101.xml"/>
                          <syncManager idx="0" dir="in"/>
                          <syncManager idx="1" dir="out"/>
                          <syncManager idx="2" dir="out">
                                <pdo idx="1601">
                                        <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="enable-latch-c" halType="bit"/>
                                        <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="enable-latch-extern-on-positive-edge" halType="bit"/>
                                        <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="set-counter" halType="bit"/>
                                        <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="enable-latch-extern-on-negative-edge" halType="bit"/>
                                        <pdoEntry idx="7000" subIdx="11" bitLen="32" halPin="set-counter-value" halType="u32"/>
                                </pdo>
                          </syncManager>
                          <syncManager idx="3" dir="in">
                                <pdo idx="1a01">
                                        <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="latch-c-valid" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="latch-extern-valid" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="set-counter-done" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="counter-underflow" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="counter-overflow" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="status-of-input-status" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="open-circuit" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="extrapolation-stall" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="09" bitLen="1" halPin="status-of-input-a" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="0a" bitLen="1" halPin="status-of-input-b" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="0b" bitLen="1" halPin="status-of-input-c" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="0c" bitLen="1" halPin="status-of-input-gate" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="0d" bitLen="1" halPin="status-of-extern-latch" halType="bit"/>
                                        <pdoEntry idx="1c32" subIdx="20" bitLen="1" halPin="sync-error" halType="bit"/>
                                        <pdoEntry idx="1801" subIdx="07" bitLen="1" halPin="txpdo-state" halType="bit"/>
                                        <pdoEntry idx="1801" subIdx="09" bitLen="1" halPin="txpdo-toggle" halType="bit"/>
                                        <pdoEntry idx="6000" subIdx="11" bitLen="32" halPin="counter-value" halType="u32"/>
                                        <pdoEntry idx="6000" subIdx="12" bitLen="32" halPin="latch-value" halType="u32"/>
                                </pdo>
                        </syncManager>
                </slave>

        <!-- Danfoss FC302 in CiA402/DSP402 mode -> needs CiA402 mode vl -->
                <!--<slave idx="7" type="basic_cia402" vid="0200008d" pid="00000064" name="2001_FC302">
                <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
                        <modParam name="pdoAutoflow" value="true"/>
                        <modParam name="pdoEntryLimit" value="2"/>
                        <modParam name="pdoIncrement" value="1"/>
                        <modParam name="ciaRxPDOEntryLimit" value="8"/>
                        <modParam name="ciaTxPDOEntryLimit" value="8"/>
                        <modParam name="enableVL" value="true"/>
                        <modParam name="digitalInChannels" value="32"/>
                        <modParam name="digitalOutChannels" value="32"/>
                        <modParam name="enableErrorCode" value="true"/>
                         <modParam name="ciaChannels" value="0"/> -->
                        <!-- <modParam name="pdoLimit" value="0"/> -->
                        <!-- <modParam name="pdoEntryLimit" value="0"/> -->
                        <!-- <modParam name="vlQuickStopRatio" value="asdf"/> -->
                        <!-- <modParam name="vlSetPoint" value="asdf"/> -->
                        <!-- <modParam name="vlDimensionFactor" value="asdf"/> -->
                        <!-- <modParam name="vlAccel" value="asdf"/> -->
                        <!-- <modParam name="vlDecel" value="asdf"/> -->

                        <!-- <modParam name="enableTargetVL" value="true"/> -->
                        <!-- <modParam name="enableVLDemand" value="true"/>-->
                        <!-- <modParam name="enableVLMaximum" value="true"/> -->
                        <!-- <modParam name="enableVLMinimum" value="true"/> -->
                <!--</slave>
         Danfoss FC302 in CiA402/DSP402 mode -> needs CiA402 mode vl
                <slave idx="7" type="generic" vid="0200008d" pid="00000064" configPdos="true" name="2001_FC302">
                        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
                                <syncManager idx="2" dir="out">
                                        <pdo idx="1600">
                                                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="srv-cia-controlword" halType="u32"/>
                                                <pdoEntry idx="6042" subIdx="00" bitLen="16" halPin="srv-target-vl" halType="s32"/>
                                                <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="srv-opmode" halType="s32"/>
                                        </pdo>
                                </syncManager>
                                <syncManager idx="3" dir="in">
                                        <pdo idx="1a00">
                                                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="srv-cia-statusword" halType="u32"/>
                                                <pdoEntry idx="6043" subIdx="00" bitLen="16" halPin="srv-actual-vl" halType="s32"/>
                                                <pdoEntry idx="6046" subIdx="01" bitLen="32" halPin="srv-vl-minimum" halType="s32"/>
                                                <pdoEntry idx="6046" subIdx="02" bitLen="32" halPin="srv-vl-maximum" halType="s32"/>
                                                <pdoEntry idx="6048" subIdx="01" bitLen="32" halPin="srv-vl-accel" halType="s32"/>
                                                <pdoEntry idx="6049" subIdx="01" bitLen="32" halPin="srv-vl-decel" halType="s32"/>
                                                <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="srv-opmode-display" halType="s32"/>
                                                <pdoEntry idx="6064" subIdx="00" bitLen="8" halPin="srv-actual-position" halType="s32"/>
                                                <pdoEntry idx="6502" subIdx="00" bitLen="32" halPin="srv-supported-modes" halType="u32"/>
                                                <pdoEntry idx="6504" subIdx="00" bitLen="32" halPin="srv-manufacturer" halType="s32"/>
                                        </pdo>
                                </syncManager>
                </slave> -->
        </master>
</masters>