<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">
    <slave idx="0" type="EK1100" name="MSTR"/>
    <slave idx="1" type="EL1008" name="IPT"/>
    <slave idx="2" type="EL2008" name="OPT"/>
    <slave idx="3" type="generic" vid="0x00000a79" pid="0x00001000" name="X" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--CL3-E57H-->
      <syncManager idx="0" dir="out">
        <pdo idx="1a01">
          <!--TxPDO 2-->
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="u32"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="2-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="s32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="s32"/>
        </pdo>
        <pdo idx="1601">
          <!--RxPDO 2-->
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="2-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="2-target-position" halType="s32"/>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="u32"/>
        </pdo>
      </syncManager>
      <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="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="mode-of-operation" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="in-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual" halType="s32"/>
          <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="velocity-actual" halType="s32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-of-operation-display" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="4" type="generic" vid="0x00000a79" pid="0x00001000" name="Z" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--CL3-E57H-->
      <syncManager idx="0" dir="out">
        <pdo idx="1a01">
          <!--TxPDO 2-->
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="u32"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="2-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="s32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="s32"/>
        </pdo>
        <pdo idx="1601">
          <!--RxPDO 2-->
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="2-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="2-target-position" halType="s32"/>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="u32"/>
        </pdo>
      </syncManager>
      <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="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="mode-of-operation" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="in-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual" halType="s32"/>
          <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="velocity-actual" halType="s32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-of-operation-display" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="5" type="generic" vid="0x00000a79" pid="0x00001000" name="Y" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--CL3-E57H-->
      <syncManager idx="0" dir="out">
        <pdo idx="1a01">
          <!--TxPDO 2-->
          <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="errorcode" halType="u32"/>
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="2-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual-value" halType="s32"/>
          <pdoEntry idx="60fd" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modes-of-operation-display" halType="s32"/>
        </pdo>
        <pdo idx="1601">
          <!--RxPDO 2-->
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="2-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modes-of-operation" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="2-target-position" halType="s32"/>
          <pdoEntry idx="6081" subIdx="00" bitLen="32" halPin="profile-velocity" halType="u32"/>
          <pdoEntry idx="6099" subIdx="01" bitLen="32" halPin="search-switch" halType="u32"/>
          <pdoEntry idx="6099" subIdx="02" bitLen="32" halPin="search-zero" halType="u32"/>
        </pdo>
      </syncManager>
      <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="60ff" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="mode-of-operation" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="in-statusword" halType="u32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="position-actual" halType="s32"/>
          <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="velocity-actual" halType="s32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="mode-of-operation-display" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
    <slave idx="6" type="generic" vid="0x00400000" pid="0x00000715" name="SPDL" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--AS715N_sAxis_V0.10-->
      <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="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>
  </master>
</masters>
