<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <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>
    </slave>
     <slave idx="1" type="generic" vid="00400000" pid="00000715" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <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>
        </slave>
        <slave idx="2" type="generic" vid="00400000" pid="00000715" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <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>
        </slave>
        <slave idx="3" type="generic" vid="00400000" pid="00000715" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <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>
        </slave>
       <slave idx="4" type="generic" vid="00090588" pid="00109252" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0" />
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="2300" subIdx="00" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="out-00" halType="bit" />
<complexEntry bitLen="1" halPin="out-01" halType="bit" />
<complexEntry bitLen="1" halPin="out-02" halType="bit" />
<complexEntry bitLen="1" halPin="out-03" halType="bit" />
<complexEntry bitLen="1" halPin="out-04" halType="bit" />
<complexEntry bitLen="1" halPin="out-05" halType="bit" />
<complexEntry bitLen="1" halPin="out-06" halType="bit" />
<complexEntry bitLen="1" halPin="out-07" halType="bit" />
<complexEntry bitLen="1" halPin="out-08" halType="bit" />
<complexEntry bitLen="1" halPin="out-09" halType="bit" />
<complexEntry bitLen="1" halPin="out-10" halType="bit" />
<complexEntry bitLen="1" halPin="out-11" halType="bit" />
<complexEntry bitLen="1" halPin="out-12" halType="bit" />
<complexEntry bitLen="1" halPin="out-13" halType="bit" />
<complexEntry bitLen="1" halPin="out-14" halType="bit" />
<complexEntry bitLen="1" halPin="out-15" halType="bit" />
</pdoEntry>
<!--模拟量转电压关系为 DA=V*4096/10 DA为模拟量数值 V为电压-->
<pdoEntry idx="2310" subIdx="00" bitLen="16" halPin="Analog-Output-0" halType="u32" /> <!-- 第一路模拟量输出-->
<pdoEntry idx="2311" subIdx="01" bitLen="16" halPin="Analog-Output-1" halType="u32" /> <!-- 第二路模拟量输出-->
<!--PWM输出频率要乘65536 例如要输出10HZ 设定为10×65536=655360-->
<pdoEntry idx="2320" subIdx="00" bitLen="32" halPin="PWM-OUT-0" halType="u32" />        <!-- 第一路PWM输出-->
<pdoEntry idx="2321" subIdx="01" bitLen="32" halPin="PWM-OUT-1" halType="u32" />        <!-- 第二路PWM输出-->
<!--占空比范围0-1 例如要输出占空比50% 设定为0.5×65536=32768-->
<pdoEntry idx="2330" subIdx="00" bitLen="16" halPin="占空比-OUT-0" halType="u32" />      <!-- 第一路占空比输出-->
<pdoEntry idx="2331" subIdx="01" bitLen="16" halPin="占空比-OUT-1" halType="u32" />      <!-- 第二路占空比输出-->
                    <pdoEntry idx="2400" subIdx="00" bitLen="16" halPin="清零" halType="u32" />               <!-- 没搞定-->
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="2000" subIdx="00" bitLen="16" halType="complex">
<complexEntry bitLen="1" halPin="in-00" halType="bit" />
<complexEntry bitLen="1" halPin="in-01" halType="bit" />
<complexEntry bitLen="1" halPin="in-02" halType="bit" />
<complexEntry bitLen="1" halPin="in-03" halType="bit" />
<complexEntry bitLen="1" halPin="in-04" halType="bit" />
<complexEntry bitLen="1" halPin="in-05" halType="bit" />
<complexEntry bitLen="1" halPin="in-06" halType="bit" />
<complexEntry bitLen="1" halPin="in-07" halType="bit" />
<complexEntry bitLen="1" halPin="in-08" halType="bit" />
<complexEntry bitLen="1" halPin="in-09" halType="bit" />
<complexEntry bitLen="1" halPin="in-10" halType="bit" />
<complexEntry bitLen="1" halPin="in-11" halType="bit" />
<complexEntry bitLen="1" halPin="in-12" halType="bit" />
<complexEntry bitLen="1" halPin="in-13" halType="bit" />
<complexEntry bitLen="1" halPin="in-14" halType="bit" />
<complexEntry bitLen="1" halPin="in-15" halType="bit" />
</pdoEntry>
<!--电压转模拟量关系为 V=AD*10/4096 AD为模拟量数值 V为电压-->
<pdoEntry idx="2010" subIdx="00" bitLen="16" halPin="Analog-Input-1" halType="u32" />  <!-- 第一路模拟量输入-->
<pdoEntry idx="2011" subIdx="01" bitLen="16" halPin="Analog-Input-2" halType="u32" />  <!-- 第二路模拟量输入-->
<!--编码器-->
<pdoEntry idx="2020" subIdx="00" bitLen="32" halPin="Encoder-Input" halType="s32" />   <!-- 编码器输入-->
<!--计数器-->
<pdoEntry idx="2030" subIdx="00" bitLen="32" halPin="计数器输入-0" halType="u32" />       <!-- 第一路模计数器输入-->
<pdoEntry idx="2031" subIdx="01" bitLen="32" halPin="计数器输入-1" halType="u32" />       <!-- 第二路模计数器输入-->
<!--设置PWM 计数器极性和计数器方向-->
<pdoEntry idx="2401" subIdx="00" bitLen="16" halPin="计数器方向" halType="u32" />         <!-- 没搞定-->
</pdo>
</syncManager>
</slave>
  </master>
</masters>

