<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" type="generic" vid="0x00000a79" pid="0x00006100" configPdos="true">
	  <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <!--CL57E-4A-->
      <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="x-control-word" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="x-opmode" halType="s32"/>
          <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="x-target-position" halType="s32"/>
          <pdoEntry idx="60ff" subIdx="00" bitLen="32" halPin="x-target-velocity" halType="s32"/>
        </pdo>
        <pdo idx="1610">
          <pdoEntry idx="6840" subIdx="00" bitLen="16" halPin="y-control-word" halType="u32"/>
          <pdoEntry idx="6860" subIdx="00" bitLen="8" halPin="y-opmode" halType="s32"/>
          <pdoEntry idx="687a" subIdx="00" bitLen="32" halPin="y-target-position" halType="s32"/>
          <pdoEntry idx="68ff" subIdx="00" bitLen="32" halPin="y-target-velocity" halType="s32"/>
        </pdo>
        <pdo idx="1620">
          <pdoEntry idx="7040" subIdx="00" bitLen="16" halPin="z-control-word" halType="u32"/>
          <pdoEntry idx="7060" subIdx="00" bitLen="8" halPin="z-opmode" halType="s32"/>
          <pdoEntry idx="707a" subIdx="00" bitLen="32" halPin="z-target-position" halType="s32"/>
          <pdoEntry idx="70ff" subIdx="00" bitLen="32" halPin="z-target-velocity" halType="s32"/>
        </pdo>
        <pdo idx="1630">
          <pdoEntry idx="7840" subIdx="00" bitLen="16" halPin="a-control-word" halType="u32"/>
          <pdoEntry idx="7860" subIdx="00" bitLen="8" halPin="a-opmode" halType="s32"/>
          <pdoEntry idx="787a" subIdx="00" bitLen="32" halPin="a-target-position" halType="s32"/>
          <pdoEntry idx="78ff" subIdx="00" bitLen="32" halPin="a-target-velocity" halType="s32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="x-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="x-opmode-disp" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="x-position-actual" halType="s32"/>
          <pdoEntry idx="606c" subIdx="00" bitLen="32" halPin="x-velocity-actual" halType="s32"/>
        </pdo>
        <pdo idx="1a10">
          <pdoEntry idx="6841" subIdx="00" bitLen="16" halPin="y-statusword" halType="u32"/>
          <pdoEntry idx="6861" subIdx="00" bitLen="8" halPin="y-opmode-disp" halType="s32"/>
          <pdoEntry idx="6864" subIdx="00" bitLen="32" halPin="y-position-actual" halType="s32"/>
          <pdoEntry idx="686c" subIdx="00" bitLen="32" halPin="y-velocity-actual" halType="s32"/>
        </pdo>
        <pdo idx="1a20">
          <pdoEntry idx="7041" subIdx="00" bitLen="16" halPin="z-statusword" halType="u32"/>
          <pdoEntry idx="7061" subIdx="00" bitLen="8" halPin="z-opmode-disp" halType="s32"/>
          <pdoEntry idx="7064" subIdx="00" bitLen="32" halPin="z-position-actual" halType="s32"/>
          <pdoEntry idx="706c" subIdx="00" bitLen="32" halPin="z-velocity-actual" halType="s32"/>
        </pdo>
        <pdo idx="1a30">
          <pdoEntry idx="7841" subIdx="00" bitLen="16" halPin="a-statusword" halType="u32"/>
          <pdoEntry idx="7861" subIdx="00" bitLen="8" halPin="a-opmode-disp" halType="s32"/>
          <pdoEntry idx="7864" subIdx="00" bitLen="32" halPin="a-position-actual" halType="s32"/>
          <pdoEntry idx="786c" subIdx="00" bitLen="32" halPin="a-velocity-actual" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>
  </master>
</masters>
