<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    <slave idx="0" type="generic" vid="00000eff" pid="0d3e0001" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--<sdoConfig idx="1C12" subIdx="01"><sdoDataRaw data ="00 16"/></sdoConfig>-->
      <!--<sdoConfig idx="1C13" subIdx="01"><sdoDataRaw data ="00 1A"/></sdoConfig>-->
      <sdoConfig idx="6098" subIdx="00"><sdoDataRaw data ="22 00"/></sdoConfig>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
		  <!--<pdoEntry idx="60B8" subIdx="00" bitLen="32" halPin="touch-probe" halType="s32"/>-->
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" 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="603F" subIdx="00" bitLen="32" halPin="error-code" halType="u32"/>-->
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <!--<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>-->
          <!--<pdoEntry idx="60F4" subIdx="00" bitLen="32" halPin="position-deviation" halType="s32"/>-->
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <!--<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>-->
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>

