<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

	<slave idx="0" type="generic" vid="0000AAAA" pid="00000003" configPdos="true">
       <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
       <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
       
		<syncManager idx="0" dir="out">
		</syncManager>
		<syncManager idx="1" dir="in">
		</syncManager>
		<syncManager idx="2" dir="out">
			<pdo idx="1600">
		<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="u32"/>
        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="targetposition" halType="u32"/>				
			</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="positionactualvalue" halType="float"/>
			</pdo>
		</syncManager>

	    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
    <watchdog divider="2498" intervals="1000"/>
	</slave>

	<slave idx="1" type="generic" vid="0000AAAA" pid="00000003" configPdos="true">
       <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
       <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>
       
		<syncManager idx="0" dir="out">
		</syncManager>
		<syncManager idx="1" dir="in">
		</syncManager>
		<syncManager idx="2" dir="out">
			<pdo idx="1600">
		<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="u32"/>
        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="targetposition" halType="u32"/>				
			</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="positionactualvalue" halType="float"/>
			</pdo>
		</syncManager>
    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
    <watchdog divider="2498" intervals="1000"/>
	</slave>

	<slave idx="2" type="generic" vid="0000AAAA" pid="00000003" configPdos="true">
       <sdoConfig idx="6060" subIdx="0"><sdoDataRaw data="08"/></sdoConfig>
       <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="23"/></sdoConfig>

		<syncManager idx="0" dir="out">
		</syncManager>
		<syncManager idx="1" dir="in">
		</syncManager>
		<syncManager idx="2" dir="out">
			<pdo idx="1600">
		<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="controlword" halType="u32"/>
        <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="targetposition" halType="u32"/>				
			</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="positionactualvalue" halType="float"/>
			</pdo>
		</syncManager>
    <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
    <watchdog divider="2498" intervals="1000"/>
	</slave>




</master>
</masters> 
