Merge branch 'main' of https://gitea.psi.ch/AIK-FAT/FAT-Servo-Load-Test
This commit is contained in:
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<Name>TwinCAT Motion Designer</Name>
|
||||
<SchemaVersion>2.0</SchemaVersion>
|
||||
<ProjectGuid>{198c802b-cbb3-4b93-a5d8-08af2e847538}</ProjectGuid>
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||||
<AssemblyName>MotionDesigner</AssemblyName>
|
||||
<RootNamespace>MotionDesigner</RootNamespace>
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||||
</PropertyGroup>
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||||
</Project>
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||||
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Load Diff
@@ -0,0 +1,109 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcMD2TcDM DataVersion="0.5.0.0">
|
||||
<Name>MotionDesigner</Name>
|
||||
<DcLinks>
|
||||
<DcLink>
|
||||
<Name>DC link 1</Name>
|
||||
<Umain>
|
||||
<ValueInUnit>48</ValueInUnit>
|
||||
<UnitSystem>VoltageUnit</UnitSystem>
|
||||
<Unit>V</Unit>
|
||||
</Umain>
|
||||
<SupplyType>1</SupplyType>
|
||||
<BrakeResistanceConnection>2</BrakeResistanceConnection>
|
||||
<ChopperThreshold>
|
||||
<ValueInUnit>50</ValueInUnit>
|
||||
<UnitSystem>VoltageUnit</UnitSystem>
|
||||
<Unit>V</Unit>
|
||||
</ChopperThreshold>
|
||||
<InfeedModule>
|
||||
<UnconfiguredOrderCode>PS3011-4820-0000</UnconfiguredOrderCode>
|
||||
<OrderCode>PS3011-4820-0000</OrderCode>
|
||||
</InfeedModule>
|
||||
<AdditionalModules>
|
||||
<DcLinkModule>
|
||||
<UnconfiguredOrderCode>EL9576</UnconfiguredOrderCode>
|
||||
<OrderCode>EL9576</OrderCode>
|
||||
<BrakeResistance>ZB8110</BrakeResistance>
|
||||
</DcLinkModule>
|
||||
</AdditionalModules>
|
||||
<Drives>
|
||||
<Drive>
|
||||
<UnconfiguredOrderCode>EL7211-9014</UnconfiguredOrderCode>
|
||||
<OrderCode>EL7211-9014</OrderCode>
|
||||
<Channels>
|
||||
<Channel>
|
||||
<Name>Rotary axis 1</Name>
|
||||
<UnconfiguredMotorOrderCode>AM8121-xFxx-0000</UnconfiguredMotorOrderCode>
|
||||
<XedsMotorOrderCode>AM8121-0F01-0000</XedsMotorOrderCode>
|
||||
<Motor>AM8121-xFx1-0000</Motor>
|
||||
<IsLinearMotor>False</IsLinearMotor>
|
||||
<Feedconstant>
|
||||
<OperatorNode>
|
||||
<Content>/</Content>
|
||||
<OperatorNode>
|
||||
<Content>*</Content>
|
||||
<OperatorNode>
|
||||
<Content>/</Content>
|
||||
<NumberNode>
|
||||
<Content>5</Content>
|
||||
</NumberNode>
|
||||
<NumberNode>
|
||||
<Content>1000</Content>
|
||||
</NumberNode>
|
||||
</OperatorNode>
|
||||
<NumberNode>
|
||||
<Content>1000</Content>
|
||||
</NumberNode>
|
||||
</OperatorNode>
|
||||
<NumberNode>
|
||||
<Content>1</Content>
|
||||
</NumberNode>
|
||||
</OperatorNode>
|
||||
</Feedconstant>
|
||||
<FeedconstantUnit>
|
||||
<UnitSystem>LinearFeedConstantUnit</UnitSystem>
|
||||
<Unit>mm/U</Unit>
|
||||
</FeedconstantUnit>
|
||||
<GearRatio>
|
||||
<NumberNode>
|
||||
<Content>1</Content>
|
||||
</NumberNode>
|
||||
</GearRatio>
|
||||
<MaxInertia>
|
||||
<ValueInUnit>4.72090009385093E-05</ValueInUnit>
|
||||
<UnitSystem>InertiaUnit</UnitSystem>
|
||||
<Unit>kgm²</Unit>
|
||||
</MaxInertia>
|
||||
<AvgInertia>
|
||||
<ValueInUnit>4.72090009385093E-05</ValueInUnit>
|
||||
<UnitSystem>InertiaUnit</UnitSystem>
|
||||
<Unit>kgm²</Unit>
|
||||
</AvgInertia>
|
||||
<MaxTorque>
|
||||
<ValueInUnit>0.422882079811809</ValueInUnit>
|
||||
<UnitSystem>TorqueUnit</UnitSystem>
|
||||
<Unit>Nm</Unit>
|
||||
</MaxTorque>
|
||||
<MaxVelocityLoad>
|
||||
<ValueInUnit>0.1</ValueInUnit>
|
||||
<UnitSystem>LinearSpeedUnit</UnitSystem>
|
||||
<Unit>m/s</Unit>
|
||||
</MaxVelocityLoad>
|
||||
<MaxAccelerationLoad>
|
||||
<ValueInUnit>0.101</ValueInUnit>
|
||||
<UnitSystem>LinearAccelUnit</UnitSystem>
|
||||
<Unit>m/s²</Unit>
|
||||
</MaxAccelerationLoad>
|
||||
<MaxJerkLoad>
|
||||
<ValueInUnit>12</ValueInUnit>
|
||||
<UnitSystem>LinearJerkUnit</UnitSystem>
|
||||
<Unit>m/s³</Unit>
|
||||
</MaxJerkLoad>
|
||||
</Channel>
|
||||
</Channels>
|
||||
</Drive>
|
||||
</Drives>
|
||||
</DcLink>
|
||||
</DcLinks>
|
||||
</TcMD2TcDM>
|
||||
@@ -13,5 +13,26 @@
|
||||
<Content Include="Scope YT NC Project.tcscopex">
|
||||
<SubType>Content</SubType>
|
||||
</Content>
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||||
<Content Include="Scope YT NC-0_Platten.svdx">
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||||
<SubType>Content</SubType>
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||||
</Content>
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||||
<Content Include="Scope YT NC-10_Platten.svdx">
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<SubType>Content</SubType>
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</Content>
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<Content Include="Scope YT NC-2_Platten.svdx">
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<SubType>Content</SubType>
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<Content Include="Scope YT NC-4_Platten.svdx">
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<SubType>Content</SubType>
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<Content Include="Scope YT NC-6_Platten.svdx">
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<SubType>Content</SubType>
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<Content Include="Scope YT NC-8_Platten.svdx">
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<SubType>Content</SubType>
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</Content>
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<Content Include="Scope YT NC-Free-Fall.svdx">
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<SubType>Content</SubType>
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</Project>
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@@ -0,0 +1,87 @@
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<ProjectGuid>{8c53c57f-b718-41dd-93a2-8ec27d8d7d36}</ProjectGuid>
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<SubObjectsSortedByName>True</SubObjectsSortedByName>
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<DownloadApplicationInfo>true</DownloadApplicationInfo>
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||||
<WriteProductVersion>true</WriteProductVersion>
|
||||
<GenerateTpy>false</GenerateTpy>
|
||||
<Name>PLC</Name>
|
||||
<ProgramVersion>3.1.4024.0</ProgramVersion>
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||||
<Application>{bc61ae6c-0d1e-482c-89e6-68231f6f74eb}</Application>
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<TypeSystem>{95dde344-55da-48c2-97d2-faca6d59db05}</TypeSystem>
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<Implicit_Task_Info>{9c2275bb-ba4e-45b4-9824-1a11dafbc7f6}</Implicit_Task_Info>
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<Implicit_KindOfTask>{bf454944-8b7d-4586-b65b-392a258124f1}</Implicit_KindOfTask>
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<Implicit_Jitter_Distribution>{5f327e3e-b562-498d-966e-ea285e195345}</Implicit_Jitter_Distribution>
|
||||
<LibraryReferences>{d7f96682-270e-4260-9bb2-bb38ff6eaa01}</LibraryReferences>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="PlcTask.TcTTO">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="POUs\MAIN.TcPOU">
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<SubType>Code</SubType>
|
||||
</Compile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Folder Include="DUTs" />
|
||||
<Folder Include="GVLs" />
|
||||
<Folder Include="VISUs" />
|
||||
<Folder Include="POUs" />
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||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PlaceholderReference Include="Tc2_Standard">
|
||||
<DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_Standard</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc2_System">
|
||||
<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_System</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc3_Module">
|
||||
<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc3_Module</Namespace>
|
||||
</PlaceholderReference>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="PLC.tmc">
|
||||
<SubType>Content</SubType>
|
||||
</None>
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<ProjectExtensions>
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<PlcProjectOptions>
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<o xml:space="preserve" t="OptionKey">
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<v n="Name">"<ProjectRoot>"</v>
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<v>{40450F57-0AA3-4216-96F3-5444ECB29763}</v>
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<o>
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<v n="Name">"{40450F57-0AA3-4216-96F3-5444ECB29763}"</v>
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<d n="SubKeys" t="Hashtable" />
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<d n="Values" t="Hashtable" ckt="String" cvt="String">
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<v>ActiveVisuProfile</v>
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@@ -0,0 +1,16 @@
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<?xml version="1.0" encoding="utf-8"?>
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||||
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|
||||
<POU Name="MAIN" Id="{5b46055f-a85c-42d7-b9d9-7e7d7140066f}" SpecialFunc="None">
|
||||
<Declaration><![CDATA[PROGRAM MAIN
|
||||
VAR
|
||||
current AT %I* : DINT;
|
||||
END_VAR
|
||||
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|
||||
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|
||||
<ST><![CDATA[]]></ST>
|
||||
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|
||||
<LineIds Name="MAIN">
|
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<LineId Id="2" Count="0" />
|
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</LineIds>
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</POU>
|
||||
</TcPlcObject>
|
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@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1">
|
||||
<Task Name="PlcTask" Id="{25d31301-d4e1-4d8f-a164-f898a668b4d1}">
|
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<!--CycleTime in micro seconds.-->
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||||
<CycleTime>10000</CycleTime>
|
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<Priority>20</Priority>
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<PouCall>
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<Name>MAIN</Name>
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<TaskFBGuid>{a1353816-1d53-4c89-90b1-d6577272d292}</TaskFBGuid>
|
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<Fb_init>{e040b172-c84b-4263-920d-9fc6fa10ba27}</Fb_init>
|
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<Fb_exit>{877031f4-5141-40ba-9061-e0bbb914ca54}</Fb_exit>
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<CycleUpdate>{22b7ea81-1b30-4192-9046-dc4ceac38bcd}</CycleUpdate>
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<PostCycleUpdate>{b8e04ac9-fa35-4730-beb3-79dda4d25eee}</PostCycleUpdate>
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<ObjectProperties />
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</Task>
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</TcPlcObject>
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@@ -7,6 +7,8 @@ Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "ServoLoadTest", "ServoLoadT
|
||||
EndProject
|
||||
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "NC Scope", "..\NC Scope\NC Scope.tcmproj", "{88B31788-82B3-4A10-B0AC-50B40F2129BA}"
|
||||
EndProject
|
||||
Project("{7D049A34-F7A8-47F4-AF65-57433FD83A7E}") = "MotionDesigner", "..\MotionDesigner\MotionDesigner.tcmdproj", "{198C802B-CBB3-4B93-A5D8-08AF2E847538}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
|
||||
@@ -49,6 +51,26 @@ Global
|
||||
{88B31788-82B3-4A10-B0AC-50B40F2129BA}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (x64)
|
||||
{88B31788-82B3-4A10-B0AC-50B40F2129BA}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{88B31788-82B3-4A10-B0AC-50B40F2129BA}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT OS (x64).Build.0 = Debug|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT OS (x64).Build.0 = Release|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
|
||||
@@ -1,15 +1,62 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62">
|
||||
<Project ProjectGUID="{E6B17C9E-5408-4481-B83C-420C74690E9E}" TargetNetId="5.17.17.136.1.1" ShowHideConfigurations="#x6">
|
||||
<System>
|
||||
<Tasks>
|
||||
<Task Id="5" Priority="20" CycleTime="100000" AmsPort="350" AdtTasks="true">
|
||||
<Name>PlcTask</Name>
|
||||
</Task>
|
||||
</Tasks>
|
||||
</System>
|
||||
<Motion>
|
||||
<NC File="NC.xti"/>
|
||||
</Motion>
|
||||
<Plc>
|
||||
<Project GUID="{8C53C57F-B718-41DD-93A2-8EC27D8D7D36}" Name="PLC" PrjFilePath="PLC\PLC.plcproj" TmcFilePath="PLC\PLC.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
|
||||
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="PLC\PLC.tmc" TmcHash="{DA2B66B1-9EEB-8361-6509-30EA85A29E7F}">
|
||||
<Name>PLC Instance</Name>
|
||||
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
|
||||
<Vars VarGrpType="1">
|
||||
<Name>PlcTask Inputs</Name>
|
||||
<Var>
|
||||
<Name>MAIN.current</Name>
|
||||
<Type>DINT</Type>
|
||||
</Var>
|
||||
</Vars>
|
||||
<Contexts>
|
||||
<Context>
|
||||
<Id>0</Id>
|
||||
<Name>PlcTask</Name>
|
||||
<ManualConfig>
|
||||
<OTCID>#x02010050</OTCID>
|
||||
</ManualConfig>
|
||||
<Priority>20</Priority>
|
||||
<CycleTime>10000000</CycleTime>
|
||||
</Context>
|
||||
</Contexts>
|
||||
<TaskPouOids>
|
||||
<TaskPouOid Prio="20" OTCID="#x08502001"/>
|
||||
</TaskPouOids>
|
||||
</Instance>
|
||||
</Project>
|
||||
</Plc>
|
||||
<Io>
|
||||
<Device File="Device 3 (EtherCAT).xti" Id="3"/>
|
||||
</Io>
|
||||
<SymbolWatch>
|
||||
<Variable>TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 26 (EL3681)^SAI Inputs^Value</Variable>
|
||||
<Variable>TINC^NC-Task 1 SAF^Axes^Axis 1^Outputs^ToPlc^ActAcc</Variable>
|
||||
<Variable>TINC^NC-Task 1 SAF^Axes^Axis 1^Outputs^ToPlc^ActVelo</Variable>
|
||||
</SymbolWatch>
|
||||
</Project>
|
||||
<Mappings>
|
||||
<MappingInfo Identifier="{00000000-2001-0850-0020-500841000403}" Id="#x02030020"/>
|
||||
<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
|
||||
<MappingInfo Identifier="{00000000-0030-0304-1000-040331000403}" Id="#x02030020"/>
|
||||
<MappingInfo Identifier="{00000000-0030-0304-1000-040332000403}" Id="#x02030030"/>
|
||||
<OwnerA Name="TIPC^PLC^PLC Instance">
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 26 (EL3681)">
|
||||
<Link VarA="PlcTask Inputs^MAIN.current" VarB="SAI Inputs^Value"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
</TcSmProject>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CDevEtherCATDef" SubType="111">
|
||||
<Device Id="3" DevType="111" DevFlags="#x0003" AmsPort="28675" AmsNetId="5.17.17.136.4.1" RemoteName="Device 3 (EtherCAT)" InfoImageId="3">
|
||||
<Device Id="3" CreateSymbols="true" DevType="111" DevFlags="#x0003" AmsPort="28675" AmsNetId="5.17.17.136.4.1" RemoteName="Device 3 (EtherCAT)" InfoImageId="3">
|
||||
<Name>__FILENAME__</Name>
|
||||
<AddressInfo>
|
||||
<Pnp>
|
||||
@@ -12,7 +12,10 @@
|
||||
<Image Id="2" AddrType="9" ImageType="3">
|
||||
<Name>Image</Name>
|
||||
</Image>
|
||||
<Box File="Term 1 (EK1100).xti" Id="1">
|
||||
<Image Id="4" AddrType="10" ImageType="3">
|
||||
<Name>Image-2</Name>
|
||||
</Image>
|
||||
<Box File="Term 14 (EK1100).xti" Id="14">
|
||||
<EtherCAT PortABoxInfo="#x00ffffff"/>
|
||||
</Box>
|
||||
<EtherCAT DcSyncMode="3"/>
|
||||
|
||||
+11
-10
@@ -2,7 +2,7 @@
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -11,7 +11,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
||||
<BitSize>13</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -20,7 +20,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<BitSize>1</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -29,7 +29,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<BitSize>9</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -38,7 +38,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<BitSize>3</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -47,7 +47,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -83,7 +83,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -92,7 +92,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
|
||||
<BitSize>12</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -101,7 +101,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<BitSize>14</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -123,7 +123,7 @@
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="8" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<Name>Term 8 (EL7211-9014)</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<Xml>
|
||||
<EL72xxDriveTool>
|
||||
@@ -881,6 +881,7 @@
|
||||
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108015040000009500000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108017040000000a000000506f736974696f6e206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
||||
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000bfff00bfffc0c0c0808080c0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="14" BoxType="9099">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="1" PdiType="#x0d00" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x044c2c52" RevisionNo="#x00120000" PortPhys="305" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1100 EtherCAT Coupler (2A E-Bus)" Desc="EK1100"/>
|
||||
<Box File="Term 15 (EL9227-5500).xti" Id="15">
|
||||
<EtherCAT PortABoxInfo="#x0100000e"/>
|
||||
</Box>
|
||||
<Box File="Term 16 (EL5042).xti" Id="16">
|
||||
<EtherCAT PortABoxInfo="#x0100000f"/>
|
||||
</Box>
|
||||
<Box File="Term 17 (EL5042).xti" Id="17">
|
||||
<EtherCAT PortABoxInfo="#x01000010"/>
|
||||
</Box>
|
||||
<Box File="Term 18 (EL3204).xti" Id="18">
|
||||
<EtherCAT PortABoxInfo="#x01000011"/>
|
||||
</Box>
|
||||
<Box File="Term 19 (EL2008).xti" Id="19">
|
||||
<EtherCAT PortABoxInfo="#x01000012"/>
|
||||
</Box>
|
||||
<Box File="Term 20 (EL1008).xti" Id="20">
|
||||
<EtherCAT PortABoxInfo="#x01000013"/>
|
||||
</Box>
|
||||
<Box File="Term 21 (EL7211-9014).xti" Id="21">
|
||||
<EtherCAT PortABoxInfo="#x01000014"/>
|
||||
</Box>
|
||||
<Box File="Term 22 (EL7211-9014).xti" Id="22">
|
||||
<EtherCAT PortABoxInfo="#x01000015"/>
|
||||
</Box>
|
||||
<Box File="Term 23 (EL7211-9014).xti" Id="23">
|
||||
<EtherCAT PortABoxInfo="#x01000016"/>
|
||||
</Box>
|
||||
<Box File="Term 24 (EL7211-9014).xti" Id="24">
|
||||
<EtherCAT PortABoxInfo="#x01000017"/>
|
||||
</Box>
|
||||
<Box File="Term 25 (EL9576).xti" Id="25">
|
||||
<EtherCAT PortABoxInfo="#x01000018"/>
|
||||
</Box>
|
||||
<Box File="Term 26 (EL3681).xti" Id="26">
|
||||
<EtherCAT PortABoxInfo="#x01000019"/>
|
||||
</Box>
|
||||
<Box File="Term 27 (EL9011).xti" Id="27">
|
||||
<EtherCAT PortABoxInfo="#x0100001a"/>
|
||||
</Box>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
+364
@@ -0,0 +1,364 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000B}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..10] OF BIT</Name>
|
||||
<BitSize>11</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>11</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<BitSize>14</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>14</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ff007fff007fff000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="15" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x240b3052" RevisionNo="#x0012157c" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9227-5500 Overcurrent protection 24V DC, 2Ch., max. 10A (sum), adjustable, extended functionalities" Desc="EL9227-5500">
|
||||
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
||||
<SyncMan>001104002400010003000000000000000400001124010000</SyncMan>
|
||||
<SyncMan>801118002000010004000000000000001800801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<SuName>Term 15 (EL9227-5500)</SuName>
|
||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="OCP Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<Entry Name="Status__Enabled" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Tripped" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Short Circuit" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overload" Index="#x6000" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Hardware Protection" Index="#x6000" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overvoltage" Index="#x6000" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Undervoltage" Index="#x6000" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Current Level Warning" Index="#x6000" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Cool Down Lock" Index="#x6000" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Switch" Index="#x6000" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By DI" Index="#x6000" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Output" Index="#x6000" Sub="#x0c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Digital Input" Index="#x6000" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Reset" Index="#x6000" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Switch" Index="#x6000" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Load" Index="#x6000" Sub="#x21">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Current" Index="#x6000" Sub="#x22">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Voltage In" Index="#x6000" Sub="#x23">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Voltage Out" Index="#x6000" Sub="#x24">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="OCP Inputs Channel 1" Index="#x1a01" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<Entry Name="Status__Enabled" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Tripped" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Short Circuit" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overload" Index="#x6000" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Hardware Protection" Index="#x6000" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overvoltage" Index="#x6000" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Undervoltage" Index="#x6000" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Current Level Warning" Index="#x6000" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Cool Down Lock" Index="#x6000" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Switch" Index="#x6000" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By DI" Index="#x6000" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Output" Index="#x6000" Sub="#x0c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Digital Input" Index="#x6000" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Reset" Index="#x6000" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Switch" Index="#x6000" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="OCP Inputs Channel 2" Index="#x1a02" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Load" Index="#x6010" Sub="#x21">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Current" Index="#x6010" Sub="#x22">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Voltage In" Index="#x6010" Sub="#x23">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Voltage Out" Index="#x6010" Sub="#x24">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="OCP Inputs Channel 2" Index="#x1a03" Flags="#x0010">
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="OCP Outputs Channel 1" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Control__Reset" Index="#x7000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Control__Switch" Index="#x7000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Control__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="OCP Outputs Channel 2" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Control__Reset" Index="#x7010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Control__Switch" Index="#x7010" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Control__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="60429193"/>
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||||
<CoeProfile ProfileNo="60429193"/>
|
||||
<CoeProfile ProfileNo="18355081"/>
|
||||
<CoeProfile ProfileNo="18355081"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
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||||
<DataTypes>
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||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
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||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
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||||
</DataType>
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||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
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||||
</DataType>
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||||
</DataTypes>
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||||
<ImageDatas>
|
||||
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|
||||
</ImageDatas>
|
||||
<Box Id="16" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x13b23052" RevisionNo="#x00100000" InfoDataAddr="true" TimeoutMailbox2="10000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5042 2Ch. BiSS-C Encoder" Desc="EL5042">
|
||||
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
||||
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
||||
<SyncMan>801114002000010004000000000000001400801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
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||||
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
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||||
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
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||||
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000</DcMode>
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||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>ULINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 2" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
||||
<Type>ULINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 1 compact" Index="#x1a02" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 2 compact" Index="#x1a03" Flags="#x0010">
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
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||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="33624969"/>
|
||||
<CoeProfile ProfileNo="33624969"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
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||||
<DataTypes>
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||||
<DataType>
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||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
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||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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||||
<ArrayInfo>
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||||
<LBound>0</LBound>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
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||||
</ArrayInfo>
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</DataType>
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</DataTypes>
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<ImageDatas>
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||||
</ImageDatas>
|
||||
<Box Id="17" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x13b23052" RevisionNo="#x00100000" InfoDataAddr="true" TimeoutMailbox2="10000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5042 2Ch. BiSS-C Encoder" Desc="EL5042">
|
||||
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
||||
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
||||
<SyncMan>801114002000010004000000000000001400801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000</DcMode>
|
||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>ULINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 2" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
||||
<Type>ULINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 1 compact" Index="#x1a02" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
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||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
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||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Inputs Channel 2 compact" Index="#x1a03" Flags="#x0010">
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
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||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__">
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||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="33624969"/>
|
||||
<CoeProfile ProfileNo="33624969"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,150 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
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||||
<DataTypes>
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||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
|
||||
<BitSize>7</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>7</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
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||||
</DataTypes>
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||||
<ImageDatas>
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||||
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||||
</ImageDatas>
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||||
<Box Id="18" BoxType="9099" BoxFlags="#x00000020">
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||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="3" FoeType="1" VendorId="#x00000002" ProductCode="#x0c843052" RevisionNo="#x00130000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL3204 4Ch. Ana. Input PT100 (RTD)" Desc="EL3204">
|
||||
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
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||||
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
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||||
<SyncMan>801110002000010004000000000000001000801120010000</SyncMan>
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||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
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||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<Pdo Name="RTD Inputs Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="3">
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||||
<Entry Name="Status__Underrange" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overrange" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 1" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 2" Index="#x6000" Sub="#x05">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO State" Index="#x1800" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO Toggle" Index="#x1800" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Value" Index="#x6000" Sub="#x11" Flags="#x00050000">
|
||||
<Type>INT</Type>
|
||||
</Entry>
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||||
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|
||||
<Pdo Name="RTD Inputs Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="3">
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||||
<Entry Name="Status__Underrange" Index="#x6010" Sub="#x01">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Overrange" Index="#x6010" Sub="#x02">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Limit 1" Index="#x6010" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 2" Index="#x6010" Sub="#x05">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6010" Sub="#x07">
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||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x1801" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO Toggle" Index="#x1801" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Value" Index="#x6010" Sub="#x11" Flags="#x00050000">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="RTD Inputs Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="3">
|
||||
<Entry Name="Status__Underrange" Index="#x6020" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overrange" Index="#x6020" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 1" Index="#x6020" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 2" Index="#x6020" Sub="#x05">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Error" Index="#x6020" Sub="#x07">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry>
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||||
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
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||||
</Entry>
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||||
<Entry Name="Status__TxPDO State" Index="#x1802" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__TxPDO Toggle" Index="#x1802" Sub="#x09">
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||||
<Type>BIT</Type>
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||||
</Entry>
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||||
<Entry Name="Value" Index="#x6020" Sub="#x11" Flags="#x00050000">
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||||
<Type>INT</Type>
|
||||
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||||
</Pdo>
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||||
<Pdo Name="RTD Inputs Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="3">
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||||
<Entry Name="Status__Underrange" Index="#x6030" Sub="#x01">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Overrange" Index="#x6030" Sub="#x02">
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||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Status__Limit 1" Index="#x6030" Sub="#x03">
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||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Limit 2" Index="#x6030" Sub="#x05">
|
||||
<Type>BIT2</Type>
|
||||
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||||
<Entry Name="Status__Error" Index="#x6030" Sub="#x07">
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||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x1803" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO Toggle" Index="#x1803" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
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||||
<Entry Name="Value" Index="#x6030" Sub="#x11" Flags="#x00050000">
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||||
<Type>INT</Type>
|
||||
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||||
</Pdo>
|
||||
<CoeProfile ProfileNo="20976521"/>
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||||
<CoeProfile ProfileNo="20976521"/>
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||||
<CoeProfile ProfileNo="20976521"/>
|
||||
<CoeProfile ProfileNo="20976521"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
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||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
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<Box Id="19" BoxType="9099">
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||||
<Name>__FILENAME__</Name>
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||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x07d83052" RevisionNo="#x00120000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2008 8Ch. Dig. Output 24V, 0.5A" Desc="EL2008">
|
||||
<SyncMan>000f01004400010003000000000000000000000f44090000</SyncMan>
|
||||
<Fmmu>0000000000000000000f00020100000001000000000000000000000000000000</Fmmu>
|
||||
<Pdo Name="Channel 1" Index="#x1600" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
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|
||||
<Type>BIT</Type>
|
||||
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|
||||
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|
||||
<Pdo Name="Channel 2" Index="#x1601" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
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|
||||
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|
||||
<Pdo Name="Channel 3" Index="#x1602" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7020" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
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|
||||
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|
||||
<Pdo Name="Channel 4" Index="#x1603" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7030" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
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|
||||
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|
||||
<Pdo Name="Channel 5" Index="#x1604" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7040" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 6" Index="#x1605" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7050" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
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|
||||
</Pdo>
|
||||
<Pdo Name="Channel 7" Index="#x1606" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7060" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
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|
||||
</Pdo>
|
||||
<Pdo Name="Channel 8" Index="#x1607" InOut="1" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Output" Index="#x7070" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
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<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x03f03052" RevisionNo="#x00120000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1008 8Ch. Dig. Input 24V, 3ms" Desc="EL1008">
|
||||
<SyncMan>001001000000010004000000000000000100001000010000</SyncMan>
|
||||
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
|
||||
<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6010" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6020" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6030" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6040" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6050" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6060" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
|
||||
<Entry Name="Input" Index="#x6070" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
+1504
File diff suppressed because it is too large
Load Diff
+761
@@ -0,0 +1,761 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
||||
<BitSize>13</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>13</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<BitSize>1</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<BitSize>9</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>9</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<BitSize>3</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>3</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
|
||||
<BitSize>8</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000040}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..7] OF BYTE</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>8</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000020}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BYTE</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>2</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
|
||||
<BitSize>12</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>12</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<BitSize>14</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>14</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000050}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..9] OF BYTE</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>10</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="22" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014">
|
||||
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
||||
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
||||
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
||||
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Ready to switch on
|
||||
Bit 1 : Switched on
|
||||
Bit 2 : Operation enabled
|
||||
Bit 3 : Fault
|
||||
Bit 4 : reserved
|
||||
Bit 5 : reserved
|
||||
Bit 6 : Switch on disabled
|
||||
Bit 7 : Warning
|
||||
Bit 8 + 9 : reserved
|
||||
Bit 10 : TxPDOToggle
|
||||
Bit 11 : Internal limit active
|
||||
Bit 12 : Drive follows the command value
|
||||
Bit 13 : Input cycle counter
|
||||
Bit 14 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
||||
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
||||
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
||||
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
||||
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
|
||||
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
||||
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
||||
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
||||
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
||||
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
||||
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a31</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a30</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Switch on
|
||||
Bit 1 : Enable voltage
|
||||
Bit 2 : reserved
|
||||
Bit 3 : Enable operation
|
||||
Bit 4 - 6 : reserved
|
||||
Bit 7 : Fault reset
|
||||
Bit 8 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1631</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1630</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="49157001"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
+761
@@ -0,0 +1,761 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
||||
<BitSize>13</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>13</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<BitSize>1</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<BitSize>9</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>9</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<BitSize>3</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>3</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
|
||||
<BitSize>8</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000040}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..7] OF BYTE</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>8</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000020}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BYTE</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>2</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
|
||||
<BitSize>12</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>12</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<BitSize>14</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>14</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000050}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..9] OF BYTE</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>10</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="23" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014">
|
||||
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
||||
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
||||
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
||||
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Ready to switch on
|
||||
Bit 1 : Switched on
|
||||
Bit 2 : Operation enabled
|
||||
Bit 3 : Fault
|
||||
Bit 4 : reserved
|
||||
Bit 5 : reserved
|
||||
Bit 6 : Switch on disabled
|
||||
Bit 7 : Warning
|
||||
Bit 8 + 9 : reserved
|
||||
Bit 10 : TxPDOToggle
|
||||
Bit 11 : Internal limit active
|
||||
Bit 12 : Drive follows the command value
|
||||
Bit 13 : Input cycle counter
|
||||
Bit 14 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
||||
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
||||
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
||||
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
||||
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
||||
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
|
||||
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
||||
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
||||
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
||||
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
||||
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
||||
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a31</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a30</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Switch on
|
||||
Bit 1 : Enable voltage
|
||||
Bit 2 : reserved
|
||||
Bit 3 : Enable operation
|
||||
Bit 4 - 6 : reserved
|
||||
Bit 7 : Fault reset
|
||||
Bit 8 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1631</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1630</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="49157001"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
+761
@@ -0,0 +1,761 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
||||
<BitSize>13</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>13</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<BitSize>1</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<BitSize>9</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>9</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<BitSize>3</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>3</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>5</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
|
||||
<BitSize>8</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>1</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000040}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..7] OF BYTE</Name>
|
||||
<BitSize>64</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>8</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000020}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BYTE</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>2</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
|
||||
<BitSize>12</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>12</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
||||
<BitSize>14</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>14</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000050}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..9] OF BYTE</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>10</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="24" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014">
|
||||
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
||||
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
||||
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
||||
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
||||
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
||||
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
||||
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Ready to switch on
|
||||
Bit 1 : Switched on
|
||||
Bit 2 : Operation enabled
|
||||
Bit 3 : Fault
|
||||
Bit 4 : reserved
|
||||
Bit 5 : reserved
|
||||
Bit 6 : Switch on disabled
|
||||
Bit 7 : Warning
|
||||
Bit 8 + 9 : reserved
|
||||
Bit 10 : TxPDOToggle
|
||||
Bit 11 : Internal limit active
|
||||
Bit 12 : Drive follows the command value
|
||||
Bit 13 : Input cycle counter
|
||||
Bit 14 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
||||
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
||||
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
||||
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
||||
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
||||
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
|
||||
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
||||
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
||||
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
||||
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
||||
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
||||
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a31</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
||||
<ExcludePdo>#x1a00</ExcludePdo>
|
||||
<ExcludePdo>#x1a01</ExcludePdo>
|
||||
<ExcludePdo>#x1a02</ExcludePdo>
|
||||
<ExcludePdo>#x1a03</ExcludePdo>
|
||||
<ExcludePdo>#x1a04</ExcludePdo>
|
||||
<ExcludePdo>#x1a05</ExcludePdo>
|
||||
<ExcludePdo>#x1a06</ExcludePdo>
|
||||
<ExcludePdo>#x1a07</ExcludePdo>
|
||||
<ExcludePdo>#x1a08</ExcludePdo>
|
||||
<ExcludePdo>#x1a09</ExcludePdo>
|
||||
<ExcludePdo>#x1a0a</ExcludePdo>
|
||||
<ExcludePdo>#x1a0b</ExcludePdo>
|
||||
<ExcludePdo>#x1a0c</ExcludePdo>
|
||||
<ExcludePdo>#x1a0e</ExcludePdo>
|
||||
<ExcludePdo>#x1a30</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningStatus__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
||||
<Type>UINT</Type>
|
||||
<Comment><![CDATA[Bit 0 : Switch on
|
||||
Bit 1 : Enable voltage
|
||||
Bit 2 : reserved
|
||||
Bit 3 : Enable operation
|
||||
Bit 4 - 6 : reserved
|
||||
Bit 7 : Fault reset
|
||||
Bit 8 - 15 : reserved]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
||||
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Touch probe function__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1631</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>LINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
||||
<ExcludePdo>#x1600</ExcludePdo>
|
||||
<ExcludePdo>#x1601</ExcludePdo>
|
||||
<ExcludePdo>#x1602</ExcludePdo>
|
||||
<ExcludePdo>#x1603</ExcludePdo>
|
||||
<ExcludePdo>#x1604</ExcludePdo>
|
||||
<ExcludePdo>#x1605</ExcludePdo>
|
||||
<ExcludePdo>#x1606</ExcludePdo>
|
||||
<ExcludePdo>#x1607</ExcludePdo>
|
||||
<ExcludePdo>#x1608</ExcludePdo>
|
||||
<ExcludePdo>#x1630</ExcludePdo>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__FeedbackControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__DriveControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__PositioningControl__">
|
||||
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
||||
<Type>INT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
||||
<Type>UINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="DMC__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
||||
<CoeProfile ProfileNo="49157001"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,75 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
|
||||
<BitSize>7</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>7</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="25" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x25683052" RevisionNo="#x00160000" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9576 Brake chopper terminal" Desc="EL9576">
|
||||
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
|
||||
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
||||
<SyncMan>80110b002000010004000000000000000b00801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000160000</MBoxUserCmdData>
|
||||
<Pdo Name="BCT Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Terminal Overtemperature" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="I2T error" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="I2T warning" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Overvoltage" Index="#x6000" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Undervoltage" Index="#x6000" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Chopper on" Index="#x6000" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Overcurrent Protection" Index="#x6000" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Input cycle counter" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT2</Type>
|
||||
</Entry>
|
||||
<Entry Name="DC link voltage" Index="#x6000" Sub="#x11">
|
||||
<Type>UDINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Resistor Current" Index="#x6000" Sub="#x13">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Duty Cycle" Index="#x6000" Sub="#x14">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="BCT Load" Index="#x1a01" Flags="#x0010">
|
||||
<Entry Name="I2T load factor" Index="#x6001" Sub="#x01">
|
||||
<Type>USINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="58987401"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,130 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
|
||||
<BitSize>6</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>6</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
||||
<BitSize>4</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>4</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
<LBound>0</LBound>
|
||||
<Elements>2</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
</DataTypes>
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424de6000000000000007600000028000000100000000e000000010004000000000000000000c30e0000c30e0000000000000000000000ff4c00c0c0c000808080000003ff0000000000002878000000ff0000001600ffffff0000ff000000000000000000000000000000000000000000000000000088888888888222228888888888814142444444444444444445665456654566544444646446764464444464644646446445665454454544544444646446464464444464644646446445665456654566544444444444444444999999999991414299999999999161629999999999911112</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="26" BoxType="9099" BoxFlags="#x00000020">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x0e613052" RevisionNo="#x00150000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL3681 Digital multimeter terminal" Desc="EL3681">
|
||||
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
|
||||
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
|
||||
<SyncMan>001100002400000003000000000000000200001124010000</SyncMan>
|
||||
<SyncMan>801108002000010004000000000000000800801120010000</SyncMan>
|
||||
<Fmmu>0000000000000000000000020000000001000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
||||
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
||||
<BootStrapData>0010f400f410f400</BootStrapData>
|
||||
<Pdo Name="SAI Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Status__Underrange" Index="#x6000" Sub="#x01">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Over- or underrange event active]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Overrange" Index="#x6000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Overrange event active]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Extended range" Index="#x6000" Sub="#x03">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Extended Range is used]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Data invalid" Index="#x6000" Sub="#x04">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Don't use the current value]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Range invalid" Index="#x6000" Sub="#x05">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[The selected range isn't available]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Autorange disabled" Index="#x6000" Sub="#x06">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Autorange is in not used]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Error" Index="#x6000" Sub="#x07">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[An error has occurred during Conversion]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__Calibration in progress" Index="#x6000" Sub="#x08">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[TRUE while calibration]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Status__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0f">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Status__TxPDO Toggle" Index="#x6000" Sub="#x10">
|
||||
<Type>BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Value" Index="#x6000" Sub="#x11">
|
||||
<Type>DINT</Type>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="SAI Feedback" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
||||
<Entry Name="Settings__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Settings__Mode" Index="#x6001" Sub="#x05">
|
||||
<Type>BIT4</Type>
|
||||
<Comment><![CDATA[Select mode (e.g. DC Voltage)]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Settings__Range" Index="#x6001" Sub="#x09">
|
||||
<Type>SINT</Type>
|
||||
<Comment><![CDATA[Selected range (e.g. 10^2)]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<Pdo Name="SAI Range" Index="#x1600" InOut="1" Flags="#x0010">
|
||||
<Entry Name="Control__Disable autorange" Index="#x7000" Sub="#x01" Flags="#x00008020">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Disable autorange in selected mode (e.g. DC Voltage)]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Control__Start calibration" Index="#x7000" Sub="#x02">
|
||||
<Type>BIT</Type>
|
||||
<Comment><![CDATA[Request read zero after current conversion]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Control__">
|
||||
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
||||
</Entry>
|
||||
<Entry Name="Control__Mode" Index="#x7000" Sub="#x05" Flags="#x00008020">
|
||||
<Type>BIT4</Type>
|
||||
<Comment><![CDATA[Select mode (e.g. DC Voltage)]]></Comment>
|
||||
</Entry>
|
||||
<Entry Name="Control__Range" Index="#x7000" Sub="#x09">
|
||||
<Type>SINT</Type>
|
||||
<Comment><![CDATA[Select range (e.g. 10^2)]]></Comment>
|
||||
</Entry>
|
||||
</Pdo>
|
||||
<CoeProfile ProfileNo="23597961"/>
|
||||
</EtherCAT>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
|
||||
<ImageDatas>
|
||||
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff</ImageData>
|
||||
</ImageDatas>
|
||||
<Box Id="27" BoxType="9099">
|
||||
<Name>__FILENAME__</Name>
|
||||
<ImageId>1000</ImageId>
|
||||
<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011"/>
|
||||
</Box>
|
||||
</TcSmItem>
|
||||
@@ -1434,7 +1434,7 @@ External Setpoint Generation:
|
||||
<Encoder Name="Enc" EncType="19">
|
||||
<EncPara ScaleFactorNumerator="5" ScaleFactorDenominator="1048576" Inverse="true" MaxCount="#xffffffff">
|
||||
<SoftEndMinControl Enable="true" Range="10"/>
|
||||
<SoftEndMaxControl Enable="true" Range="180"/>
|
||||
<SoftEndMaxControl Range="180"/>
|
||||
</EncPara>
|
||||
<Vars VarGrpType="1">
|
||||
<Name>Inputs</Name>
|
||||
@@ -1572,7 +1572,7 @@ External Setpoint Generation:
|
||||
</Axis>
|
||||
<Mappings>
|
||||
<OwnerA>
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 8 (EL7211-9014)">
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 21 (EL7211-9014)">
|
||||
<Link VarA="Drive^Inputs^In^nDataIn3[0]" VarB="DRV Torque actual value^Torque actual value"/>
|
||||
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
||||
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
|
||||
|
||||
@@ -1563,22 +1563,4 @@ External Setpoint Generation:
|
||||
</Var>
|
||||
</Vars>
|
||||
</Axis>
|
||||
<Mappings>
|
||||
<OwnerA>
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 9 (EL7211-9014)">
|
||||
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
||||
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
||||
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
|
||||
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
</TcSmItem>
|
||||
|
||||
@@ -1563,22 +1563,4 @@ External Setpoint Generation:
|
||||
</Var>
|
||||
</Vars>
|
||||
</Axis>
|
||||
<Mappings>
|
||||
<OwnerA>
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 10 (EL7211-9014)">
|
||||
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
||||
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
||||
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
|
||||
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
</TcSmItem>
|
||||
|
||||
@@ -1563,22 +1563,4 @@ External Setpoint Generation:
|
||||
</Var>
|
||||
</Vars>
|
||||
</Axis>
|
||||
<Mappings>
|
||||
<OwnerA>
|
||||
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 11 (EL7211-9014)">
|
||||
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
||||
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
||||
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
||||
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
|
||||
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
||||
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
</TcSmItem>
|
||||
|
||||
Reference in New Issue
Block a user