<masters>
  <master idx="0">
    <slave idx="0" type="basic_cia402" vid="0x000000b7" pid="0x00000264" name="D1">
      <!--ABB FECA-01 EtherCAT adapter-->
      <modParam name="ciaRxPDOEntryLimit" value="8"/>
      <modParam name="ciaTxPDOEntryLimit" value="8"/>
      <modParam name="enableVL" value="true"/>
      <modParam name="enablePV" value="true"/>
      <modParam name="enableTQ" value="true"/>
      <modParam name="enableCST" value="true"/>
      <modParam name="enableActualFollowingError" value="true"/>
      <modParam name="enableActualTorque" value="true"/>
      <modParam name="digitalInChannels" value="16"/>
      <modParam name="digitalOutChannels" value="16"/>
      <modParam name="enableErrorCode" value="true"/>
      <modParam name="enableFollowingErrorTimeout" value="true"/>
      <modParam name="enableFollowingErrorWindow" value="true"/>
      <modParam name="enableProfileAccel" value="true"/>
      <modParam name="enableProfileDecel" value="true"/>
      <modParam name="enableProfileVelocity" value="true"/>
      <modParam name="enableTargetTorque" value="true"/>
      <modParam name="enableTargetVL" value="true"/>
      <modParam name="enableTorqueSlope" value="true"/>
      <modParam name="enableVLAccel" value="true"/>
      <modParam name="enableVLDecel" value="true"/>
      <modParam name="enableVLDemand" value="true"/>
      <modParam name="enableVLMaximum" value="true"/>
      <modParam name="enableVLMinimum" value="true"/>
      <modParam name="enableVelocityDemand" value="true"/>
    </slave>
  </master>
</masters>
