maurice.xml

<masters>
    <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
      <slave idx="0" type="generic" vid="0000060A" pid="00000001" configPdos="true">
        <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
        <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
        <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
        <syncManager idx="0" dir="out"></syncManager>
        <syncManager idx="1" dir="in"></syncManager>
        <syncManager idx="2" dir="out">
          <pdo idx="1602">
            <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
	    <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modecontrol" halType="bit"/>
            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="20000"/>
          </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
          <pdo idx="1A02">
            <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
	    <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modestatus" halType="bit"/>
            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.00005"/>
            <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="inputs" halType="bit"/>
          </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
        <watchdog divider="2498" intervals="1000"/>
      </slave>
      <slave idx="1" type="generic" vid="0000060A" pid="00000001" configPdos="true">
        <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data="02"/></sdoConfig>
        <sdoConfig idx="6099" subIdx="1"><sdoDataRaw data="E8 03 00 00"/></sdoConfig>
        <sdoConfig idx="6093" subIdx="1"><sdoDataRaw data="00 80 00 00"/></sdoConfig>
        <sdoConfig idx="6093" subIdx="2"><sdoDataRaw data="E2 04 00 00"/></sdoConfig>
        <syncManager idx="0" dir="out"></syncManager>
        <syncManager idx="1" dir="in"></syncManager>
        <syncManager idx="2" dir="out">
          <pdo idx="1602">
            <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/>
            <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="modecontrol" halType="bit"/>
            <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="10000"/>
          </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
          <pdo idx="1A02">
            <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/>
            <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="modestatus" halType="bit"/>
            <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="0.0001"/>
            <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="inputs" halType="bit"/>
          </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/>
        <watchdog divider="2498" intervals="1000"/>
      </slave>
    </master>
</masters>