<masters>
	<master idx="0" appTimePeriod="1250000" refClockSyncCycles="5" syncToRefClock="true">
		<!-- X Axis StepperOnline A6 Servo Drive -->
		<slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6X">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="300000"/>
			<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"/>
				</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"/>
				</pdo>
			</syncManager>
		</slave>
		<!-- Y Axis StepperOnline A6 Servo Drive -->
		<slave idx="1" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6Y">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="300000"/>
			<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"/>
				</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"/>
				</pdo>
			</syncManager>
		</slave>
		<!-- Z Axis StepperOnline A6 Servo Drive -->
		<slave idx="2" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6Z">
			<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="300000"/>
			<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"/>
				</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"/>
				</pdo>
			</syncManager>
		</slave>
		<!-- Beckhoff EK1100 Coupler -->
		<slave idx="3" type="EK1100" name="EK1100"/>
		<!-- Beckhoff EL1008 Input Module -->
		<slave idx="4" type="EL1008" name="EL1008"/>
		<!-- Beckhoff EL2008 Output Module -->
		<slave idx="5" type="EL2008" name="EL2008"/>
	</master>
</masters>
