<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1"> <!-- was "5" -->
    <slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/> <!-- was "0" -->
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-pos-scale" halType="s32"/>
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
        </pdo>
        <pdo idx="1602">
          <pdoEntry idx="7002" subIdx="01" bitLen="64" halPin="commanded-position" halType="float-double"/>
          <pdoEntry idx="7002" subIdx="02" bitLen="64" halPin="commanded-velocity" halType="float-double"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6000" subIdx="00" bitLen="64" halPin="enc-position" halType="float-double"/>
        </pdo>
        <pdo idx="1a01">
          <pdoEntry idx="6001" subIdx="00" bitLen="64" halPin="enc-frequency" halType="float-double"/>
        </pdo> 
        <pdo idx="1a02">
          <pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
        </pdo>
        <pdo idx="1a03">
          <pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
        </pdo>
        <pdo idx="1a04">
          <pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
        </pdo>
        <pdo idx="1a05">
          <pdoEntry idx="6005" subIdx="01" bitLen="64" halPin="actual-position" halType="float-double"/>
        </pdo>
      </syncManager> 
    </slave>
  </master>
</masters>
