<masters>
  <master idx="0" appTimePeriod="500000" refClockSyncCycles="-1">

    <!--Y_Axis_right-->
    <slave idx="0" type="generic" vid="00000766" pid="00000402" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>      
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-speed" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <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="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!--Y_Axis_left-->
    <slave idx="1" type="generic" vid="00000766" pid="00000402" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>    
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-speed" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <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="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- X_Axis -->
    <slave idx="2" type="generic" vid="00000766" pid="00000402" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>    
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-speed" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <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="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

    <!-- Z_Axis -->
    <slave idx="3" type="generic" vid="00000766" pid="00000402" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="0" dir="out">
      </syncManager>
      <syncManager idx="1" dir="in">
      </syncManager>    
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-speed" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <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="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>

<!-- IO aus  -->
	<slave idx="4" type="EK1100"/>
    <slave idx="5" type="EL1008"/>
    <slave idx="6" type="EL2004"/>
    <slave idx="7" type="EL2004"/>
    <slave idx="8" type="EL2008"/>
    <slave idx="9" type="EL2622"/>
    <slave idx="10" type="EL3102"/>
    
    
    

  </master>
</masters>
