<masters>
   <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5">
      <slave idx="0" type="generic" vid="0x00000168" pid="0x0000001a" 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="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>
      <slave idx="1" type="generic" vid="0x0000006a" pid="0x11110100" 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="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>
