In a small bowl whisk 1/3 c. maple syrup, ¼ c. Dijon mustard, 1 tbsp chopped fresh rosemary, 1 tbsp fresh lemon juice and 2 tsp soy sauce. Set aside half the sauce. Thread salmon onto skewers and brush remaining sauce on salmon. Set aside for 5 minutes. Grill salmon on oiled grates until desired doneness. Drizzle with sauce and serve.