26 lines
1.3 KiB
XML
26 lines
1.3 KiB
XML
<masters>
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<master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
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<slave idx="0" type="generic" vid="0000026C" pid="0000003C" configPdos="true">
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<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
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<syncManager idx="2" dir="out">
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<pdo idx="1600">
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<pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
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<pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
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<pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
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<pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
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</pdo>
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</syncManager>
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<syncManager idx="3" dir="in">
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<pdo idx="1a00">
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<pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
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<pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
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<pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
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<pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
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<pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
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</pdo>
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</syncManager>
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</slave>
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</master>
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</masters>
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