<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <!-- Joint 0 -->
    <slave idx="0" type="generic" vid="00000eff" pid="0d3e0001" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>  
      <!--<sdoConfig idx="1C12" subIdx="0"><sdoDataRaw data ="01 17"/></sdoConfig>
      <sdoConfig idx="1C13" subIdx="0"><sdoDataRaw data ="01 1B"/></sdoConfig>
      <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="22 00"/></sdoConfig>
      <sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig>
      <sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig>
      <sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig>
      <sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig>-->
      <syncManager idx="2" dir="out">
        <pdo idx="1701">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/> <!-- u8 -->
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1B01">
		  <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/> <!-- u16 -->
          <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="folowig-error-value" halType="s32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/> <!-- u8 -->
        </pdo>
      </syncManager>
    </slave>
    <!-- Joint 1 -->
    <slave idx="1" type="generic" vid="00000eff" pid="0d3e0001" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <syncManager idx="2" dir="out">
       <pdo idx="1701">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/> <!-- u8 -->
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
         <pdo idx="1B01">
		  <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/> <!-- u16 -->
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="actual-torque" halType="s32"/> <!-- u16 -->
          <pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="folowig-error-value" halType="s32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/> <!-- u8 -->
        </pdo>
      </syncManager>
    </slave>
   </master>
</masters>
