<masters>
    <master idx="0" appTimePeriod="2000000" refClockSyncCycles="1">
        <slave idx="0" type="generic" vid="00190683" pid="00000004" configPdos="true">
			<syncManager idx="0" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="0005" subIdx="01" bitLen="32" halPin="output" halType="bit"/>
					<pdoEntry idx="0005" subIdx="02" bitLen="32" halPin="ENC1_PULS_PER_REV" halType="s32"/>
				</pdo>
			</syncManager>
			<syncManager idx="1" dir="in">
				<pdo idx="1a00">
					<pdoEntry idx="0006" subIdx="01" bitLen="32" halPin="ENC1RPM" halType="float-ieee"/>
					<pdoEntry idx="0006" subIdx="02" bitLen="32" halPin="REAL_ENC1_PULSE_PER_REV" halType="float-ieee"/>
					<pdoEntry idx="0006" subIdx="03" bitLen="32" halPin="input" halType="bit"/>
					<pdoEntry idx="0006" subIdx="04" bitLen="16" halPin="ENC1POSITION" halType="s32"/>
				</pdo>
			</syncManager>
		</slave>
        <slave idx="1" type="generic" vid="00190683" pid="00000002" configPdos="true">
	<syncManager idx="0" dir="out">
		<pdo idx="1600">
			<pdoEntry idx="0005" subIdx="01" bitLen="32" halPin="DAC1" halType="float-ieee"/>
			<pdoEntry idx="0005" subIdx="02" bitLen="32" halPin="DAC2" halType="float-ieee"/>
			<pdoEntry idx="0005" subIdx="03" bitLen="32" halPin="DAC3" halType="float-ieee"/>
			<pdoEntry idx="0005" subIdx="04" bitLen="32" halPin="DAC4" halType="float-ieee"/>
			<pdoEntry idx="0005" subIdx="05" bitLen="12" halPin="outputs" halType="bit"/>
		</pdo>
	</syncManager>
	<syncManager idx="1" dir="in">
		<pdo idx="1a00">
			<pdoEntry idx="0006" subIdx="01" bitLen="32" halPin="V1" halType="float-ieee"/>
			<pdoEntry idx="0006" subIdx="02" bitLen="32" halPin="V2" halType="float-ieee"/>
			<pdoEntry idx="0006" subIdx="03" bitLen="32" halPin="V3" halType="float-ieee"/>
			<pdoEntry idx="0006" subIdx="04" bitLen="32" halPin="V4" halType="float-ieee"/>
			<pdoEntry idx="0006" subIdx="05" bitLen="12" halPin="inputs" halType="bit"/>
			
			
		</pdo>
	</syncManager>
</slave>
        <slave idx="2" type="generic" vid="0x00850104" pid="0x01030507" configPdos="true">
			<sdoConfig idx="6060" subIdx="00"><sdoDataRaw data="08"/></sdoConfig>
			
			<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-velocity" 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="32" halPin="actual-torque" halType="s32"/>
        		</pdo>
			</syncManager>
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
		</slave>
		<slave idx="3" type="generic" vid="0x00850104" pid="0x01030507" configPdos="true">
			<sdoConfig idx="6060" subIdx="00"><sdoDataRaw data="08"/></sdoConfig>
			
			<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-velocity" 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="32" halPin="actual-torque" halType="s32"/>
        		</pdo>
			</syncManager>
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
		</slave>
		<slave idx="4" type="generic" vid="0x00850104" pid="0x01030507" configPdos="true">
			<sdoConfig idx="6060" subIdx="00"><sdoDataRaw data="08"/></sdoConfig>
			
			<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-velocity" 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="32" halPin="actual-torque" halType="s32"/>
        		</pdo>
			</syncManager>
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
		</slave>
		<slave idx="5" type="generic" vid="0x00850104" pid="0x01030507" configPdos="true">
			<sdoConfig idx="6060" subIdx="00"><sdoDataRaw data="08"/></sdoConfig>
			
			<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-velocity" 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="32" halPin="actual-torque" halType="s32"/>
        		</pdo>
			</syncManager>
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
		</slave>
		<slave idx="6" type="generic" vid="0x00850104" pid="0x01030507" configPdos="true">
			<sdoConfig idx="6060" subIdx="00"><sdoDataRaw data="08"/></sdoConfig>
			
			<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-velocity" 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="32" halPin="actual-torque" halType="s32"/>
        		</pdo>
			</syncManager>
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
		</slave>
		
        
    </master>
</masters>
