<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
  <slave idx="0" type="generic" vid="0x00000556" pid="0x10305071" 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="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
        <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
        <pdoEntry idx="6071" subIdx="00" bitLen="16" halPin="target-torque" halType="s32" />
        <pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-setting" halType="u32" />
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" 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="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="16" halPin="actual-torque" halType="s32" />
        <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="u32" />
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
        <!-- <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-pos-1" halType="s32" /> -->
        <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32" />
        <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
      
      </pdo>
    </syncManager>
  </slave>
  <slave idx="1" type="generic" vid="0x00000556" pid="0x10305071" 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="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
        <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
        <pdoEntry idx="6071" subIdx="00" bitLen="16" halPin="target-torque" halType="s32" />
        <pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-setting" halType="u32" />
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" 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="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="16" halPin="actual-torque" halType="s32" />
        <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="u32" />
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
        <!-- <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-pos-1" halType="s32" /> -->
        <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32" />
        <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
      </pdo>
    </syncManager>
  </slave>
  <slave idx="2" type="generic" vid="0x00000556" pid="0x10305071" 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="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32" />
        <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32" />
        <pdoEntry idx="6071" subIdx="00" bitLen="16" halPin="target-torque" halType="s32" />
        <pdoEntry idx="60B8" subIdx="00" bitLen="16" halPin="touch-probe-setting" halType="u32" />
        <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" 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="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="16" halPin="actual-torque" halType="s32" />
        <pdoEntry idx="60B9" subIdx="00" bitLen="16" halPin="touch-probe-status" halType="u32" />
        <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32" />
        <!-- <pdoEntry idx="60BA" subIdx="00" bitLen="32" halPin="touch-probe-pos-1" halType="s32" /> -->
        <pdoEntry idx="603F" subIdx="00" bitLen="16" halPin="error-code" halType="u32" />
        <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="digital-inputs" halType="u32" />
      </pdo>
    </syncManager>
  </slave>
</master>
</masters>
