<masters>
  <master idx="0">
    <slave idx="0" type="EK1101" name="D1"/>
    <slave idx="1" type="EL4102" name="D2"/>
    <slave idx="2" type="EL1104" name="D3"/>
    <slave idx="3" type="EL1104" name="D4"/>
    <slave idx="4" type="EL2004" name="D5"/>
    <slave idx="5" type="EL2004" name="D6"/>
    <slave idx="6" type="generic" vid="0x00000ab5" pid="0x00001010" name="D7">
      <!--EC1-872-->
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="out-controlword" halType="u32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="out-target-position" halType="s32"/>
          <pdoEntry idx="60b8" subIdx="00" bitLen="16" halPin="touch-probe-function" halType="u32"/>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="out-controlword" halType="u32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="out-target-position" halType="s32"/>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
          <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="out-profile-acceleration" halType="u32"/>
          <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="out-profile-deceleration" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="out-mode-of-operation" halType="s32"/>
        </pdo>
        <pdo idx="1602">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="out-controlword" halType="u32"/>
          <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
          <pdoEntry idx="6083" subIdx="00" bitLen="32" halPin="out-profile-acceleration" halType="u32"/>
          <pdoEntry idx="6084" subIdx="00" bitLen="32" halPin="out-profile-deceleration" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="out-mode-of-operation" halType="s32"/>
        </pdo>
        <pdo idx="1603">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="out-controlword" halType="u32"/>
          <pdoEntry idx="6098" subIdx="00" bitLen="8" halPin="homing-method" halType="s32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="homing-speed-switch" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="homing-speed-zero" halType="u32"/>
          <pdoEntry idx="609a" subIdx="00" bitLen="32" halPin="homing-acceleration" halType="u32"/>
          <pdoEntry idx="607c" subIdx="00" bitLen="32" halPin="home-offset" halType="s32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="out-mode-of-operation" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual" halType="s32"/>
          <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="in-touch-probe-status" halType="u32"/>
          <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="in-touch-probe-pos1-pos-value" halType="s32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="error-code" halType="u32"/>
        </pdo>
        <pdo idx="1a01">
          <pdoEntry idx="60b9" subIdx="00" bitLen="16" halPin="in-touch-probe-status" halType="u32"/>
          <pdoEntry idx="60ba" subIdx="00" bitLen="32" halPin="in-touch-probe-pos1-pos-value" halType="s32"/>
          <pdoEntry idx="60bb" subIdx="00" bitLen="32" halPin="touch-probe-pos1-neg-value" halType="s32"/>
          <pdoEntry idx="60bc" subIdx="00" bitLen="32" halPin="touch-probe-pos2-pos-value" halType="s32"/>
          <pdoEntry idx="60bd" subIdx="00" bitLen="32" halPin="touch-probe-pos2-neg-value" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>
