<masters>
	<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
		<slave idx="0" type="EK1100" name="Koppler"/>
		<slave idx="1" type="EL1008" name="1008_1"/>
		<slave idx="2" type="EL1008" name="1008_2"/>
		<slave idx="3" type="EL1088" name="1088_1"/>
 		<slave idx="4" type="EL2008" name="2008_1"/>
		<slave idx="5" type="EL2008" name="2008_2"/>
		<slave idx="6" type="EL2088" name="2088_1"/>

		<!-- X Axis StepperOnline A6 Servo Drive -->
		<slave idx="7" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6X">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
			<watchdog divider="2498" intervals="1000" />
			<syncManager idx="2" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
					<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" 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"/>
					<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                   			<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                   			<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
					<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
					<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
				</pdo>
			</syncManager>
			<syncManager idx="3" dir="in">
				<pdo idx="1A00">
					<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
					<pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="mode-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"/>
					<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            					<complexEntry bitLen="2"/>
            					<complexEntry bitLen="1" halPin="HOME-S-ACTIVE" halType="bit"/>
            					<complexEntry bitLen="15"/>
            					<complexEntry bitLen="1" halPin="DIN-3" halType="bit"/>
            					<complexEntry bitLen="13"/>
          				</pdoEntry>
					<!-- Detailed Statusword Start
					<pdoEntry idx="6041" subIdx="03" bitLen="16" halPin="status-word-servo-fault" halType="u32" />
					<pdoEntry idx="6041" subIdx="07" bitLen="16" halPin="status-word-alarm" halType="u32" />
					<pdoEntry idx="6041" subIdx="10" bitLen="16" halPin="status-word-position-reached" halType="u32" />
					<pdoEntry idx="6041" subIdx="11" bitLen="16" halPin="status-word-softlimit-status" halType="u32" />
					<pdoEntry idx="6041" subIdx="12" bitLen="16" halPin="status-word-home-complete" halType="u32" />
					<pdoEntry idx="6041" subIdx="13" bitLen="16" halPin="status-word-home-error" halType="u32" />
					 Detailed Statusword End -->
				</pdo>
			</syncManager>
		</slave>

		<!-- Y Axis StepperOnline A6 Servo Drive -->
		<slave idx="8" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6Y">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
			<watchdog divider="2498" intervals="1000" />
			<syncManager idx="2" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
					<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" 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"/>
					<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                   			<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                   			<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
					<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
					<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>

				</pdo>
			</syncManager>
			<syncManager idx="3" dir="in">
				<pdo idx="1A00">
					<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
					<pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="mode-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"/>
					<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            					<complexEntry bitLen="2"/>
            					<complexEntry bitLen="1" halPin="HOME-S-ACTIVE" halType="bit"/>
            					<complexEntry bitLen="15"/>
            					<complexEntry bitLen="1" halPin="DIN-3" halType="bit"/>
            					<complexEntry bitLen="13"/>
          				</pdoEntry>
					<!-- Detailed Statusword Start
					<pdoEntry idx="6041" subIdx="03" bitLen="16" halPin="status-word-servo-fault" halType="u32" />
					<pdoEntry idx="6041" subIdx="07" bitLen="16" halPin="status-word-alarm" halType="u32" />
					<pdoEntry idx="6041" subIdx="10" bitLen="16" halPin="status-word-position-reached" halType="u32" />
					<pdoEntry idx="6041" subIdx="11" bitLen="16" halPin="status-word-softlimit-status" halType="u32" />
					<pdoEntry idx="6041" subIdx="12" bitLen="16" halPin="status-word-home-complete" halType="u32" />
					<pdoEntry idx="6041" subIdx="13" bitLen="16" halPin="status-word-home-error" halType="u32" />
					 Detailed Statusword End -->
				</pdo>
			</syncManager>
		</slave>

		<!-- Z Axis StepperOnline A6 Servo Drive -->
		<slave idx="9" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6Z">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
			<watchdog divider="2498" intervals="1000" />
			<syncManager idx="2" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
					<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" 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"/>
					<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                   			<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                   			<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
					<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
					<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
				</pdo>
			</syncManager>
			<syncManager idx="3" dir="in">
				<pdo idx="1A00">
					<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
					<pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="mode-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"/>
					<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            					<complexEntry bitLen="2"/>
            					<complexEntry bitLen="1" halPin="HOME-S-ACTIVE" halType="bit"/>
            					<complexEntry bitLen="15"/>
            					<complexEntry bitLen="1" halPin="DIN-3" halType="bit"/>
            					<complexEntry bitLen="13"/>
          				</pdoEntry>
					<!-- Detailed Statusword Start 
					<pdoEntry idx="6041" subIdx="03" bitLen="16" halPin="status-word-servo-fault" halType="u32" />
					<pdoEntry idx="6041" subIdx="07" bitLen="16" halPin="status-word-alarm" halType="u32" />
					<pdoEntry idx="6041" subIdx="10" bitLen="16" halPin="status-word-position-reached" halType="u32" />
					<pdoEntry idx="6041" subIdx="11" bitLen="16" halPin="status-word-softlimit-status" halType="u32" />
					<pdoEntry idx="6041" subIdx="12" bitLen="16" halPin="status-word-home-complete" halType="u32" />
					<pdoEntry idx="6041" subIdx="13" bitLen="16" halPin="status-word-home-error" halType="u32" />
					 Detailed Statusword End -->
				</pdo>
			</syncManager>
		</slave>

		<!-- Y2 Axis StepperOnline A6 Servo Drive -->
		<slave idx="10" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6Y2">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
			<watchdog divider="2498" intervals="1000" />
			<syncManager idx="2" dir="out">
				<pdo idx="1600">
					<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control-word" halType="u32"/>
					<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="control-mode" 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"/>
					<pdoEntry idx="607C" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
                   			<pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32" />
                   			<pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-high-velocity" halType="u32"/>
					<pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-low-velocity" halType="u32"/>
					<pdoEntry idx="609A" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
				</pdo>
			</syncManager>
			<syncManager idx="3" dir="in">
				<pdo idx="1A00">
					<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status-word" halType="u32" />
					<pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="mode-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"/>
					<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            					<complexEntry bitLen="2"/>
            					<complexEntry bitLen="1" halPin="HOME-S-ACTIVE" halType="bit"/>
            					<complexEntry bitLen="15"/>
            					<complexEntry bitLen="1" halPin="DIN-3" halType="bit"/>
            					<complexEntry bitLen="13"/>
          				</pdoEntry>
					<!-- Detailed Statusword Start 
					<pdoEntry idx="6041" subIdx="03" bitLen="16" halPin="status-word-servo-fault" halType="u32" />
					<pdoEntry idx="6041" subIdx="07" bitLen="16" halPin="status-word-alarm" halType="u32" />
					<pdoEntry idx="6041" subIdx="10" bitLen="16" halPin="status-word-position-reached" halType="u32" />
					<pdoEntry idx="6041" subIdx="11" bitLen="16" halPin="status-word-softlimit-status" halType="u32" />
					<pdoEntry idx="6041" subIdx="12" bitLen="16" halPin="status-word-home-complete" halType="u32" />
					<pdoEntry idx="6041" subIdx="13" bitLen="16" halPin="status-word-home-error" halType="u32" />
					 Detailed Statusword End -->
				</pdo>
			</syncManager>
		</slave>
	</master>
</masters>
