AIK-FAT/TC_iTomcat-ES2-Detector-Tower-FAT
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This commit is contained in:
schwarb
2025-05-15 12:14:17 +02:00
parent 3de034418c
commit bc6acf1be5
21 changed files with 6818 additions and 335 deletions
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5
solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
View File

@@ -22,12 +22,15 @@
<Device File="Device 3 (EtherCAT).xti" Id="3"/>
</Io>
<SymbolWatch>
<Variable>TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 3 (EL5042)^FB Inputs Channel 2^Position</Variable>
<Variable>TIID^Device 3 (EtherCAT)^Box 26 (DL-EC1A)^ID01 Current Value^ID01 Current Value (P.V.)</Variable>
<Variable>TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (EL7211-9014)^FB Position^Position</Variable>
<Variable>TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 17 (EL5042)^FB Inputs Channel 1^Position</Variable>
</SymbolWatch>
</Project>
<Mappings>
<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030010"/>
<MappingInfo Identifier="{00000000-0040-0304-1000-040341000403}" Id="#x02030020"/>
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
<MappingInfo Identifier="{08502041-0030-0304-4020-500830000403}" Id="#x02030040" Watchdog="00000000000000000000000000000000"/>
</Mappings>
</TcSmProject>

5
solution/_Config/IO/Device 3 (EtherCAT).xti
View File

@@ -12,9 +12,12 @@
<Image Id="3" AddrType="9" ImageType="3">
<Name>Image</Name>
</Image>
<Box File="Term 1 (EK1100).xti" Id="1">
<Box File="Term 14 (EK1100).xti" Id="14">
<EtherCAT PortABoxInfo="#x00ffffff"/>
</Box>
<Box File="Box 26 (DL-EC1A).xti" Id="26">
<EtherCAT PortABoxInfo="#x0200000e"/>
</Box>
<EtherCAT DcSyncMode="3"/>
</Device>
</TcSmItem>

932
solution/_Config/IO/Device 3 (EtherCAT)/Box 26 (DL-EC1A).xti Normal file
View File

@@ -0,0 +1,932 @@
<?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="3.1.4024.55" ClassName="CFlbTermDef" SubType="9099">
<Box Id="26" BoxType="9099">
<Name>__FILENAME__</Name>
<ImageId>114</ImageId>
<EtherCAT SlaveType="2" PdiType="#x0c08" MboxDataLinkLayer="true" CycleMBoxPolling="true" CoeType="39" VendorId="#x00000541" ProductCode="#x00001194" RevisionNo="#x00000002" InfoDataAddr="true" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="DL-EC1A" Desc="DL-EC1A">
<SyncMan>001080002600010001000000000000008000001026010000</SyncMan>
<SyncMan>001280002200010002000000000000008000001222010000</SyncMan>
<SyncMan>001c14002400010003000000000000000000001c24010000</SyncMan>
<SyncMan>001848002000010004000000000000000000001820010000</SyncMan>
<Fmmu>0000000000000000001c00020100000001000000020000000200000000000000</Fmmu>
<Fmmu>0000000000000000001800010100000002000000020000000300000000000000</Fmmu>
<DcMode>4672656552756e0000000000000000004672656552756e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
<DcMode>444300000000000000000000000000004443000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
<Pdo Name="Status of System" Index="#x1a00" Flags="#x0011" SyncMan="3">
<Entry Name="Error Status" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
</Entry>
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<Type>BIT</Type>
</Entry>
<Entry Name="Reserved">
<Type>BIT</Type>
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<Entry Name="Current Value Property" Index="#x6000" Sub="#x04">
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</Entry>
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<Type>BIT</Type>
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</Entry>
<Entry Name="Reserved">
<Type>USINT</Type>
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<Entry Name="Error Code" Index="#x6000" Sub="#x0a">
<Type>UINT</Type>
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<Pdo Name="Reserved" Index="#x1a01" Flags="#x0010">
<Entry Name="Reserved" Index="#x9800" Sub="#x03">
<Type>UINT</Type>
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<Type>UINT</Type>
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<Pdo Name="Input Response 1" Index="#x1a10" Flags="#x0010" SyncMan="3">
<Entry Name="Response 1" Index="#x6010" Sub="#x01">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Input Response 2" Index="#x1a11" Flags="#x0010" SyncMan="3">
<Entry Name="Response 2" Index="#x6010" Sub="#x02">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Input Response 3" Index="#x1a12" Flags="#x0010" SyncMan="3">
<Entry Name="Response 3" Index="#x6010" Sub="#x03">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Input Response 4" Index="#x1a13" Flags="#x0010" SyncMan="3">
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<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Input Response 5" Index="#x1a14" Flags="#x0010" SyncMan="3">
<Entry Name="Response 5" Index="#x6010" Sub="#x05">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID01 Current Value" Index="#x1a20" Flags="#x0010" SyncMan="3">
<Entry Name="ID01 Current Value (P.V.)" Index="#x6100" Sub="#x01">
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID02 Current Value" Index="#x1a21" Flags="#x0010" SyncMan="3">
<Entry Name="ID02 Current Value (P.V.)" Index="#x6110" Sub="#x01">
<Type>DINT</Type>
</Entry>
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<Pdo Name="ID03 Current Value" Index="#x1a22" Flags="#x0010" SyncMan="3">
<Entry Name="ID03 Current Value (P.V.)" Index="#x6120" Sub="#x01">
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID04 Current Value" Index="#x1a23" Flags="#x0010" SyncMan="3">
<Entry Name="ID04 Current Value (P.V.)" Index="#x6130" Sub="#x01">
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID05 Current Value" Index="#x1a24" Flags="#x0010" SyncMan="3">
<Entry Name="ID05 Current Value (P.V.)" Index="#x6140" Sub="#x01">
<Type>DINT</Type>
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</Pdo>
<Pdo Name="ID06 Current Value" Index="#x1a25" Flags="#x0010" SyncMan="3">
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<Pdo Name="ID07 Current Value" Index="#x1a26" Flags="#x0010" SyncMan="3">
<Entry Name="ID07 Current Value (P.V.)" Index="#x6160" Sub="#x01">
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<Pdo Name="ID08 Current Value" Index="#x1a27" Flags="#x0010" SyncMan="3">
<Entry Name="ID08 Current Value (P.V.)" Index="#x6170" Sub="#x01">
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID09 Current Value" Index="#x1a28" Flags="#x0010">
<Entry Name="ID09 Current Value (P.V.)" Index="#x6180" Sub="#x01">
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="ID10 Current Value" Index="#x1a29" Flags="#x0010">
<Entry Name="ID10 Current Value (P.V.)" Index="#x6190" Sub="#x01">
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<Entry Name="ID11 Current Value (P.V.)" Index="#x61a0" Sub="#x01">
<Type>DINT</Type>
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</Pdo>
<Pdo Name="ID12 Current Value" Index="#x1a2b" Flags="#x0010">
<Entry Name="ID12 Current Value (P.V.)" Index="#x61b0" Sub="#x01">
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<Pdo Name="ID13 Current Value" Index="#x1a2c" Flags="#x0010">
<Entry Name="ID13 Current Value (P.V.)" Index="#x61c0" Sub="#x01">
<Type>DINT</Type>
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</Pdo>
<Pdo Name="ID14 Current Value" Index="#x1a2d" Flags="#x0010">
<Entry Name="ID14 Current Value (P.V.)" Index="#x61d0" Sub="#x01">
<Type>DINT</Type>
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</Pdo>
<Pdo Name="ID15 Current Value" Index="#x1a2e" Flags="#x0010">
<Entry Name="ID15 Current Value (P.V.)" Index="#x61e0" Sub="#x01">
<Type>DINT</Type>
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</Pdo>
<Pdo Name="ID01 Status" Index="#x1a30" Flags="#x0010" SyncMan="3">
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<Type>BIT</Type>
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<Entry Name="Reserved">
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<Entry Name="Reserved">
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="ID10 Warning Status" Index="#x6190" Sub="#x10">
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<Entry Name="ID10 Error Status" Index="#x6190" Sub="#x11">
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<Entry Name="ID11 Output 1" Index="#x61a0" Sub="#x02">
<Type>BIT</Type>
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<Entry Name="ID11 Output 2" Index="#x61a0" Sub="#x03">
<Type>BIT</Type>
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<Entry Name="ID11 Output 3" Index="#x61a0" Sub="#x04">
<Type>BIT</Type>
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<Entry Name="ID11 Output 4" Index="#x61a0" Sub="#x05">
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<Entry Name="ID14 Output 3" Index="#x61d0" Sub="#x04">
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<Entry Name="ID14 Output 4" Index="#x61d0" Sub="#x05">
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47
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100).xti Normal file
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364
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 15 (EL9227-5500).xti Normal file
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@@ -0,0 +1,364 @@
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165
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 16 (EL5042).xti Normal file
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165
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 17 (EL5042).xti Normal file
View File

@@ -0,0 +1,165 @@
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<Entry Name="Position" Index="#x6000" Sub="#x11">
<Type>UDINT</Type>
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</Entry>
</Pdo>
<CoeProfile ProfileNo="33624969"/>
<CoeProfile ProfileNo="33624969"/>
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</Box>
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150
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 18 (EL3204).xti Normal file
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<Entry Name="Status__TxPDO Toggle" Index="#x1800" Sub="#x09">
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54
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 19 (EL2008).xti Normal file
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51
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 20 (EL1008).xti Normal file
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761
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 21 (EL7211-9014).xti Normal file
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<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>
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<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>
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<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
<Type>BIT</Type>
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<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">
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<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>
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<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">
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<Entry Name="Touch probe function__">
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</Entry>
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<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
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</Entry>
</Pdo>
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
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<ExcludePdo>#x1602</ExcludePdo>
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<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
<CoeProfile ProfileNo="49157001"/>
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</TcSmItem>

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@@ -0,0 +1,761 @@
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<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">
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<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
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<Type>UDINT</Type>
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</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>
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<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
<Type>INT</Type>
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<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
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<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>
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<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
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<Type>BIT</Type>
</Entry>
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<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>
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<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>
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<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>
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<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>
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<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>

75
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 25 (EL9576).xti Normal file
View File

@@ -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="3.1.4024.55" ClassName="CFlbTermDef" SubType="9099">
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
<BitSize>7</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
<ArrayInfo>
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</ArrayInfo>
</DataType>
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</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>

11
solution/_Config/IO/Device 3 (EtherCAT)/Term 14 (EK1100)/Term 27 (EL9011).xti Normal file
View File

@@ -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="3.1.4024.55" 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>

20
solution/_Config/NC/Axes/Axis 1.xti
View File

@@ -1488,7 +1488,7 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="16">
<DrvPara MaxCount="#xffffffff">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
@@ -1563,22 +1563,4 @@ External Setpoint Generation:
</Var>
</Vars>
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 8 (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>

35
solution/_Config/NC/Axes/Axis 2.xti
View File

@@ -1431,8 +1431,8 @@ External Setpoint Generation:
<Velo RefSearch="0.380666666666667" RefSync="0.380666666666667" SlowManual="1.90333333333333" FastManual="11.42" Fast="38.0666666666667" Maximum="38.0666666666667"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="1e-06" Inverse="true" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<Encoder Name="Enc" EncType="19">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" Offset="418.1787" MaxCount="#xffffffff"/>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
@@ -1467,8 +1467,8 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="16">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
<Analog VeloReferenz="41.8733333333333" VeloScale="32" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<DrvPara MaxCount="#xffffffff">
<Analog VeloReferenz="41.8733333333333" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
@@ -1524,7 +1524,7 @@ External Setpoint Generation:
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PID PosKp="50"/>
<PID PosKp="30"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
@@ -1545,18 +1545,7 @@ External Setpoint Generation:
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 3 (EL5042)">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 9 (EL7211-9014) Ax2 vertical">
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (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"/>
@@ -1565,6 +1554,18 @@ External Setpoint Generation:
<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" Size="32"/>
<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nDataIn6" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState3" VarB="FB Touch probe status^Touch probe status^TP1 Pos value stored" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="FB Touch probe status^Touch probe status^TP2 Pos value stored" Size="1" OffsA="1"/>
</OwnerB>
</OwnerA>
</Mappings>

514
solution/_Config/NC/Axes/Axis 3.xti
View File

@@ -1,6 +1,216 @@
<?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="3.1.4024.55" ClassName="CNcAxisDef" SubType="1">
<DataTypes>
<DataType>
<Name GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}" TcBaseType="true" HideType="true">UINTARR2_2</Name>
<BitSize>32</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>2</Elements>
</ArrayInfo>
<Format>
<Printf>0x%08X (%d)</Printf>
<Parameter>.</Parameter>
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}" TcBaseType="true" HideType="true">UDINTARR2_2</Name>
<BitSize>64</BitSize>
<BaseType GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}">UINTARR2_2</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>2</Elements>
</ArrayInfo>
<Format>
<Printf>0x%016I64X (%I64d)</Printf>
<Parameter>.</Parameter>
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN3</Name>
<BitSize>640</BitSize>
<SubItem>
<Name>nDataIn1</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn2</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn3</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn4</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn5</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn6</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>320</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn7</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>384</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn8</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>448</BitOffs>
</SubItem>
<SubItem>
<Name>nState1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>512</BitOffs>
</SubItem>
<SubItem>
<Name>nState2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>528</BitOffs>
</SubItem>
<SubItem>
<Name>nState3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>544</BitOffs>
</SubItem>
<SubItem>
<Name>nState4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>560</BitOffs>
</SubItem>
<SubItem>
<Name>nState5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>576</BitOffs>
</SubItem>
<SubItem>
<Name>nComState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>592</BitOffs>
</SubItem>
<SubItem>
<Name>nDcInputTime</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>608</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT3</Name>
<BitSize>640</BitSize>
<SubItem>
<Name>nDataOut1</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut2</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut3</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut4</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut5</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut6</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>320</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut7</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>384</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut8</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>448</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>512</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>528</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>544</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>560</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>576</BitOffs>
</SubItem>
<SubItem>
<Name>nComCtrl</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>592</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
<BitSize>32</BitSize>
@@ -26,216 +236,6 @@
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
<BitSize>320</BitSize>
<SubItem>
<Name>nDataIn1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
</SubItem>
<SubItem>
<Name>nState1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nState2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
</SubItem>
<SubItem>
<Name>nState3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>80</BitOffs>
</SubItem>
<SubItem>
<Name>nState4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<Comment><![CDATA[Encoder Status 4 (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]></Comment>
<BitSize>8</BitSize>
<BitOffs>88</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nState5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>224</BitOffs>
</SubItem>
<SubItem>
<Name>nState6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>232</BitOffs>
</SubItem>
<SubItem>
<Name>nState7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>240</BitOffs>
</SubItem>
<SubItem>
<Name>nState8</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>248</BitOffs>
</SubItem>
<SubItem>
<Name>nDcInputTime</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<Comment><![CDATA[Drive Velocity Actual Value
]]></Comment>
<BitSize>32</BitSize>
<BitOffs>288</BitOffs>
</SubItem>
<Relations>
<Relation>
<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
<MapEntry>
<BitSize>96</BitSize>
</MapEntry>
</Relation>
</Relations>
</DataType>
<DataType>
<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
<BitSize>320</BitSize>
<SubItem>
<Name>nDataOut1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>80</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>88</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>224</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>232</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>240</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl8</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>248</BitOffs>
</SubItem>
<Relations>
<Relation>
<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
<MapEntry>
<BitSize>96</BitSize>
</MapEntry>
</Relation>
</Relations>
</DataType>
<DataType>
<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
<BitSize>320</BitSize>
@@ -1427,38 +1427,33 @@ External Setpoint Generation:
<Axis Id="3" CreateSymbols="true" AxisType="1">
<Name>__FILENAME__</Name>
<AxisPara>
<Dynamic Acceleration="171" Deceleration="171" Jerk="513"/>
<Velo RefSearch="1.14" RefSync="1.14" SlowManual="5.7" FastManual="34.2" Fast="114" Maximum="114"/>
<Dynamic AccelerationMaximum="250" DecelerationMaximum="250" Acceleration="342" Deceleration="684" Jerk="2052"/>
<Velo RefSearch="1.14" RefSync="1.14" SlowManual="5" FastManual="20" Fast="114" Maximum="114"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="19">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" MaxCount="#xffffffff"/>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" Offset="-1.7275" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>In</Name>
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
<Type GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC">NCENCODERSTRUCT_IN3</Type>
<SubVar>
<Name>nState1</Name>
<Comment><![CDATA[Encoder State 1 (automatically linked):
0x0001 (Bit 0) = Warning
0x0002 (Bit 1) = Error
0x0004 (Bit 2) = Ready
0x1000 (Bit 12) = Diagnosis
0x2000 (Bit 13) = TxPDO State
0xC000 (Bit 14+15) = Input Cycle Counter
]]></Comment>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn2</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn3</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn4</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn5</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn6</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn7</Name>
<Comment><![CDATA[Drive Velocity Actual Value
<SubVar>
<Name>nComState</Name>
<Comment><![CDATA[Encoder Communication State (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]></Comment>
</SubVar>
</Var>
@@ -1467,25 +1462,7 @@ External Setpoint Generation:
<Name>Outputs</Name>
<Var>
<Name>Out</Name>
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut2</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut3</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut4</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut5</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut6</Name>
</SubVar>
<Type GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC">NCENCODERSTRUCT_OUT3</Type>
</Var>
</Vars>
</Encoder>
@@ -1547,6 +1524,7 @@ External Setpoint Generation:
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PID PosKp="10"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
@@ -1567,25 +1545,21 @@ External Setpoint Generation:
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 10 (EL7211-9014) Ax3 herizontal">
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 17 (EL5042)">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 1^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Warning" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 14 (EK1100)^Term 23 (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"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Pos value stored" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Pos value stored" Size="1" OffsA="1"/>
</OwnerB>
</OwnerA>
</Mappings>

20
solution/_Config/NC/Axes/Axis 4.xti
View File

@@ -1488,7 +1488,7 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="16">
<DrvPara MaxCount="#xffffffff">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
@@ -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>

8
solution/_Config/PLC/tc_project_app.xti
View File

@@ -1195,14 +1195,6 @@ External Setpoint Generation:
</Project>
<Mappings>
<OwnerA Name="tc_project_app Instance">
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 10 (EL7211-9014) Ax3 herizontal">
<Link VarA="PlcTask Inputs^GVL.astAxes[3].stInputs.bLimitBwd" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1"/>
<Link VarA="PlcTask Inputs^GVL.astAxes[3].stInputs.bLimitFwd" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 9 (EL7211-9014) Ax2 vertical">
<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitBwd" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1"/>
<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitFwd" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1"/>
</OwnerB>
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
<Link VarA="PlcTask Inputs^GVL.astAxes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
<Link VarA="PlcTask Outputs^GVL.astAxes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>