--- a/ethercat_tests/wago_higen/beremiz.xml	Mon Apr 30 16:21:30 2012 +0200
+++ b/ethercat_tests/wago_higen/beremiz.xml	Mon May 14 07:43:40 2012 +0900
@@ -1,6 +1,6 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<BeremizRoot URI_location="PYRO://127.0.1.1:3000">
-  <TargetType>
-    <Xenomai CFLAGS="" LDFLAGS=""/>
-  </TargetType>
-</BeremizRoot>
+<?xml version="1.0" encoding="UTF-8"?>
+<BeremizRoot URI_location="PYRO://192.168.42.101:3000">
+  <TargetType>
+    <Xenomai/>
+  </TargetType>
+</BeremizRoot>

--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Mon Apr 30 16:21:30 2012 +0200
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Mon May 14 07:43:40 2012 +0900
@@ -48,7 +48,7 @@
       <Info>
         <Name>EDA7001 CoE Drive</Name>
         <PhysAddr>3</PhysAddr>
-        <AutoIncAddr>1</AutoIncAddr>
+        <AutoIncAddr>0</AutoIncAddr>
         <Physics></Physics>
         <VendorId>1573</VendorId>
         <ProductCode>1768449365</ProductCode>

--- a/ethercat_tests/wago_higen/plc.xml	Mon Apr 30 16:21:30 2012 +0200
+++ b/ethercat_tests/wago_higen/plc.xml	Mon May 14 07:43:40 2012 +0900
@@ -8,7 +8,7 @@
               productVersion="1.0"
               creationDateTime="2011-10-20T19:01:52"/>
   <contentHeader name="test_ethercat"
-                 modificationDateTime="2012-03-31T16:16:33">
+                 modificationDateTime="2012-05-13T14:57:09">
     <coordinateInfo>
       <fbd>
         <scaling x="0" y="0"/>
@@ -50,11 +50,6 @@
                 <UINT/>
               </type>
             </variable>
-            <variable name="ErrorCode" address="%IW0.0.3.24639.0">
-              <type>
-                <UINT/>
-              </type>
-            </variable>
             <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
               <type>
                 <SINT/>

--- a/etherlab/etherlab.py	Mon Apr 30 16:21:30 2012 +0200
+++ b/etherlab/etherlab.py	Mon May 14 07:43:40 2012 +0900
@@ -1070,10 +1070,12 @@
                             pdos_infos["pdos_entries_infos"].extend(pdo_entries)
                         
                         sync_manager_infos["offset"] = pdo_offset
+                        pdo_offset_shift = sync_manager_infos["pdos_number"]
                         pdos_infos["pdos_sync_infos"].append(
                             ("    {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + 
-                             "slave_%(slave)d_pdos + %(offset)d, %(watchdog)s},") % sync_manager_infos)
-                        pdo_offset += sync_manager_infos["pdos_number"]
+                             ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
+                             ", %(watchdog)s},") % sync_manager_infos)
+                        pdo_offset += pdo_offset_shift  
                     
                     for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
                         pdos_infos[element] = "\n".join(pdos_infos[element])