<masters>
    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="10">
        <slave idx="0" type="generic" vid="000002e1" pid="00000000" configPdos="true">
            <sdoConfig idx="6060" subIdx="0">
                <sdoDataRaw data="08"/>
            </sdoConfig>
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="DriveControl" halType="u32"/>
                    <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="DriveStatus" halType="u32"/>
                    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="float"/>
                </pdo>
            </syncManager>
            <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="-500000" sync1Cycle="0" sync1Shift="0"/>
        </slave>
        <slave idx="1" type="generic" vid="000002e1" pid="00000000" configPdos="true">
            <sdoConfig idx="6060" subIdx="0">
                <sdoDataRaw data="08"/>
            </sdoConfig>
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="DriveControl" halType="u32"/>
                    <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="DriveStatus" halType="u32"/>
                    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="float"/>
                </pdo>
            </syncManager>
            <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="-500000" sync1Cycle="0" sync1Shift="0"/>
        </slave>
        <slave idx="2" type="generic" vid="000002e1" pid="00000000" configPdos="true">
            <sdoConfig idx="6060" subIdx="0">
                <sdoDataRaw data="08"/>
            </sdoConfig>
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="DriveControl" halType="u32"/>
                    <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float"/>
                </pdo>
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                    <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="DriveStatus" halType="u32"/>
                    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="float"/>
                </pdo>
            </syncManager>
            <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="-500000" sync1Cycle="0" sync1Shift="0"/>
        </slave>
        
		<slave idx="3" type="generic" vid="000002e1" pid="00000000" configPdos="true">
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                	<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="DriveControl" halType="u32"/>
                    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="OperationMode" halType="s32"/>
                    <pdoEntry idx="607a" subIdx="00" bitLen="32" halPin="TargetPosition" halType="float"/>
                    <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="float" offset="0"/>
                    <pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="VelocityOffset" halType="float"/>
               </pdo> 
            </syncManager>
            <syncManager idx="3" dir="in">
                <pdo idx="1A00">
                	<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="DriveStatus" halType="u32"/>
                    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="CurrentOpMode" halType="s32"/>
                    <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="ActualPosition" halType="float"/>
                    <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="ActualVelocity" halType="float"/>
            	</pdo> 
            </syncManager>
            <dcConf assignActivate="300" sync0Cycle="1000000" sync0Shift="-500000" sync1Cycle="0" sync1Shift="0"/>
        </slave>
        
        <slave idx="4" type="generic" vid="0000001a" pid="09139100" configPdos="true"/>
        <slave idx="5" type="generic" vid="0000001a" pid="09131016" configPdos="true">
            <syncManager idx="0" dir="in">
                <pdo idx="1600">
                    <pdoEntry idx="3001" subIdx="01" bitLen="1" halPin="DI_1" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="02" bitLen="1" halPin="DI_2" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="03" bitLen="1" halPin="DI_3" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="04" bitLen="1" halPin="DI_4" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="05" bitLen="1" halPin="DI_5" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="06" bitLen="1" halPin="DI_6" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="07" bitLen="1" halPin="DI_7" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="08" bitLen="1" halPin="DI_8" halType="bit"/>
                </pdo>
                <pdo idx="1601">
                    <pdoEntry idx="3001" subIdx="09" bitLen="1" halPin="DI_9" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="10" bitLen="1" halPin="DI_10" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="11" bitLen="1" halPin="DI_11" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="12" bitLen="1" halPin="DI_12" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="13" bitLen="1" halPin="DI_13" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="14" bitLen="1" halPin="DI_14" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="15" bitLen="1" halPin="DI_15" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="16" bitLen="1" halPin="DI_16" halType="bit"/>
                </pdo>
            </syncManager>
        </slave>
        <slave idx="6" type="generic" vid="0000001a" pid="09131116" configPdos="true">
            <syncManager idx="0" dir="in">
                <pdo idx="1600">
                    <pdoEntry idx="3001" subIdx="01" bitLen="1" halPin="DI_1" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="02" bitLen="1" halPin="DI_2" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="03" bitLen="1" halPin="DI_3" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="04" bitLen="1" halPin="DI_4" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="05" bitLen="1" halPin="DI_5" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="06" bitLen="1" halPin="DI_6" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="07" bitLen="1" halPin="DI_7" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="08" bitLen="1" halPin="DI_8" halType="bit"/>
                </pdo>
                <pdo idx="1601">
                    <pdoEntry idx="3001" subIdx="09" bitLen="1" halPin="DI_9" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="10" bitLen="1" halPin="DI_10" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="11" bitLen="1" halPin="DI_11" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="12" bitLen="1" halPin="DI_12" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="13" bitLen="1" halPin="DI_13" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="14" bitLen="1" halPin="DI_14" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="15" bitLen="1" halPin="DI_15" halType="bit"/>
                    <pdoEntry idx="3001" subIdx="16" bitLen="1" halPin="DI_16" halType="bit"/>
                </pdo>
            </syncManager>
        </slave>
        <slave idx="7" type="generic" vid="0000001a" pid="09132116" configPdos="true">
            <syncManager idx="0" dir="out">
                <pdo idx="1a00">
                    <pdoEntry idx="3101" subIdx="01" bitLen="1" halPin="DO_1" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="02" bitLen="1" halPin="DO_2" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="03" bitLen="1" halPin="DO_3" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="04" bitLen="1" halPin="DO_4" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="05" bitLen="1" halPin="DO_5" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="06" bitLen="1" halPin="DO_6" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="07" bitLen="1" halPin="DO_7" halType="bit"/>
                    <pdoEntry idx="3101" subIdx="08" bitLen="1" halPin="DO_8" halType="bit"/>
                </pdo>
                <pdo idx="1a01">
                    <pdoEntry idx="3102" subIdx="01" bitLen="1" halPin="DO_9" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="02" bitLen="1" halPin="DO_10" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="03" bitLen="1" halPin="DO_11" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="04" bitLen="1" halPin="DO_12" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="05" bitLen="1" halPin="DO_13" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="06" bitLen="1" halPin="DO_14" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="07" bitLen="1" halPin="DO_15" halType="bit"/>
                    <pdoEntry idx="3102" subIdx="08" bitLen="1" halPin="DO_16" halType="bit"/>
                </pdo>
            </syncManager>
        </slave>
        <slave idx="8" type="generic" vid="0000001a" pid="09134118" configPdos="true">
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="AO_1" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="02" bitLen="16" halPin="AO_2" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="03" bitLen="16" halPin="AO_3" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="04" bitLen="16" halPin="AO_4" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="05" bitLen="16" halPin="AO_5" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="06" bitLen="16" halPin="AO_6" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="07" bitLen="16" halPin="AO_7" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="08" bitLen="16" halPin="AO_8" halType="u32"/>
                </pdo>
            </syncManager>
        </slave>
        <slave idx="9" type="generic" vid="0000001a" pid="09135312" configPdos="true">
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="7000" subIdx="01" bitLen="16" halPin="Freq_1" halType="u32"/>
                    <pdoEntry idx="7000" subIdx="02" bitLen="16" halPin="Duty_1" halType="u32"/>
                </pdo>
                <pdo idx="1601">
                    <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="Freq_2" halType="u32"/>
                    <pdoEntry idx="7010" subIdx="02" bitLen="16" halPin="Duty_2" halType="u32"/>
                </pdo>
            </syncManager>
        </slave>
        <slave idx="10" type="generic" vid="0000001a" pid="08081200" configPdos="true">
            <syncManager idx="3" dir="in">
                <pdo idx="1a00">
                    <pdoEntry idx="6000" subIdx="01" bitLen="1" halPin="TIP" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="02" bitLen="1" halPin="CAP_Overflow" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="03" bitLen="1" halPin="Init_Complete" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="04" bitLen="1" halPin="ReInit_Complete" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="05" bitLen="1" halPin="N/A_4" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="06" bitLen="1" halPin="N/A_5" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="07" bitLen="1" halPin="N/A_6" halType="bit"/>
                    <pdoEntry idx="6000" subIdx="08" bitLen="1" halPin="N/A_7" halType="bit"/>
                </pdo>
                <pdo idx="1a01">
                    <pdoEntry idx="6010" subIdx="01" bitLen="16" halPin="Senosr_Value" halType="u32"/>
                </pdo>
            </syncManager>
            <syncManager idx="2" dir="out">
                <pdo idx="1600">
                    <pdoEntry idx="7000" subIdx="01" bitLen="1" halPin="Calibrate_Enable" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="02" bitLen="1" halPin="N/A_1" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="03" bitLen="1" halPin="Qr_0d5mm" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="04" bitLen="1" halPin="Qr_1mm" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="05" bitLen="1" halPin="Qr_4mm" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="06" bitLen="1" halPin="Line_Select" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="07" bitLen="1" halPin="Low_Limit" halType="bit"/>
                    <pdoEntry idx="7000" subIdx="08" bitLen="1" halPin="High_Limit" halType="bit"/>
                </pdo>
                <pdo idx="1601">
                    <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="N/A_0" halType="u32"/>
                </pdo>
            </syncManager>
        </slave>
    </master>
</masters>
