c1930b89fd
Limit switch and direct homing are implemneted, the same with homing to a home snesor Missing referencing to encoder index or external signal.
2955 lines
117 KiB
XML
2955 lines
117 KiB
XML
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<BitSize>8</BitSize>
|
|
<BitOffs>248</BitOffs>
|
|
</SubItem>
|
|
<Relations>
|
|
<Relation>
|
|
<Type GUID="{595E16A9-7783-4B1C-A30C-48BA6EFCC859}">NCDRIVESTRUCT_OUT</Type>
|
|
<MapEntry>
|
|
<BitSize>96</BitSize>
|
|
</MapEntry>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
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|
<DataType>
|
|
<Name GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">PLCTONC_AXIS_REF_CTRL</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Enable</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>FeedEnablePlus</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>FeedEnableMinus</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>HomingSensor</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>5</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AcceptBlockedDrive</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PlcDebugFlag</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>30</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>NcDebugFlag</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>31</BitOffs>
|
|
</SubItem>
|
|
<Format Name="Short">
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|
<Printf>%08x</Printf>
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|
</Format>
|
|
<Format Name="Cpp">
|
|
<Printf>0x%08x</Printf>
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|
</Format>
|
|
<Format Name="IEC">
|
|
<Printf>16#%08X</Printf>
|
|
</Format>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC" TcBaseType="true">PLCTONC_AXIS_REF</Name>
|
|
<BitSize>1024</BitSize>
|
|
<SubItem>
|
|
<Name>ControlDWord</Name>
|
|
<Type GUID="{875D2B22-B7EB-497E-B933-0C004593CCF3}" Namespace="MC">PLCTONC_AXIS_REF_CTRL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Override</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisModeRequest</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisModeDWord</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisModeLReal</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PositionCorrection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtSetPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtSetVelo</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtSetAcc</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtSetDirection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtControllerOutput</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>512</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>GearRatio1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>576</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>GearRatio2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>640</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>GearRatio3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>704</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>GearRatio4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>768</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>MapState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>832</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PlcCycleControl</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>840</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PlcCycleCount</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000001}">BYTE</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>848</BitOffs>
|
|
</SubItem>
|
|
<Properties>
|
|
<Property>
|
|
<Name>NcStructType</Name>
|
|
<Value>1</Value>
|
|
</Property>
|
|
</Properties>
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|
<Relations>
|
|
<Relation Priority="100">
|
|
<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}">NCAXLESTRUCT_FROMPLC3</Type>
|
|
</Relation>
|
|
</Relations>
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|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Operational</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Homed</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>NotMoving</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>InPositionArea</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>3</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>InTargetPosition</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>4</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Protected</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>5</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ErrorPropagationDelayed</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>6</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>HasBeenStopped</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>7</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>HasJob</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PositiveDirection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>9</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>NegativeDirection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>10</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>HomingBusy</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>11</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ConstantVelocity</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>12</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Compensating</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>13</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExtSetPointGenEnabled</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>14</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PhasingActive</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>15</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ExternalLatchValid</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>NewTargetPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>17</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ContinuousMotion</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>19</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ControlLoopClosed</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>20</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamTableQueued</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>21</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamDataQueued</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>22</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamScalingPending</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>23</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CmdBuffered</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PTPmode</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>25</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SoftLimitMinExceeded</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>26</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SoftLimitMaxExceeded</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>27</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>DriveDeviceError</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>28</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>MotionCommandsLocked</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>29</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>IoDataInvalid</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>30</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Error</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>31</BitOffs>
|
|
</SubItem>
|
|
<Format Name="Short">
|
|
<Printf>%08x</Printf>
|
|
</Format>
|
|
<Format Name="Cpp">
|
|
<Printf>0x%08x</Printf>
|
|
</Format>
|
|
<Format Name="IEC">
|
|
<Printf>16#%08X</Printf>
|
|
</Format>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>OpModePosAreaMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeTargetPosMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeLoop</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeMotionMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>3</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModePEHTimeMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>4</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeBacklashCompensation</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>5</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeDelayedErrorReaction</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>6</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeModulo</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>7</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeSimulationAxis</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModePosLagMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeVeloLagMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>17</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeSoftLimitMinMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>18</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeSoftLimitMaxMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>19</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModePosCorrection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>20</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeAllowSlaveCommands</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>21</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeAllowExtSetAxisCommands</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>22</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ApplicationRequest</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>23</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>AvoidingCollision</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<Format Name="Short">
|
|
<Printf>%08x</Printf>
|
|
</Format>
|
|
<Format Name="Cpp">
|
|
<Printf>0x%08x</Printf>
|
|
</Format>
|
|
<Format Name="IEC">
|
|
<Printf>16#%08X</Printf>
|
|
</Format>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Value</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Flags</Name>
|
|
<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<Format Name="Short">
|
|
<Printf>%08x</Printf>
|
|
</Format>
|
|
<Format Name="Cpp">
|
|
<Printf>0x%08x</Printf>
|
|
</Format>
|
|
<Format Name="IEC">
|
|
<Printf>16#%08X</Printf>
|
|
</Format>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
|
|
<BitSize>8</BitSize>
|
|
<SubItem>
|
|
<Name>CamActivationPending</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamDeactivationPending</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamActive</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamDataQueued</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>6</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamScalingPending</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>7</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
|
|
<BitSize>128</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>8</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
|
|
<BitSize>2048</BitSize>
|
|
<SubItem>
|
|
<Name>StateDWord</Name>
|
|
<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ErrorCode</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<Comment>
|
|
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
|
0 = INACTIVE: axis has no job
|
|
1 = RUNNING: axis is executing a motion job
|
|
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
|
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
|
4 = PHASE_ACCPOS: axis is accelerating
|
|
5 = PHASE_ACCNEG: axis is decelerating
|
|
Slaves only:
|
|
11 = PREPHASE: slave axis is in a motion pre-phase
|
|
12 = SYNCHRONIZING: slave axis is synchronizing
|
|
13 = SYNCHRONOUS: slave axis is moving synchronously
|
|
External Setpoint Generation:
|
|
41 = EXTSETGEN_MODE1: external setpoint generation active
|
|
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
|
]]>
|
|
</Comment>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisModeConfirmation</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>HomingState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<Comment>
|
|
<![CDATA[Axis Homing Status:
|
|
0: idle
|
|
1: start homing
|
|
2: searching home switch
|
|
3: stopping on home switch
|
|
4: moving off home switch
|
|
5: searching sync pulse
|
|
6: stopping after homing
|
|
]]>
|
|
</Comment>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CoupleState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<Comment>
|
|
<![CDATA[Axis Coupling Status:
|
|
0: axis is a single axis (not coupled)
|
|
1: axis is a master axis
|
|
2: axis is master and slave
|
|
3: axis is a slave axis
|
|
]]>
|
|
</Comment>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SvbEntries</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SafEntries</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>AxisId</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeDWord</Name>
|
|
<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ModuloActPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActiveControlLoopIndex</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ControlLoopIndex</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>464</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ModuloActTurns</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>480</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActVelo</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>512</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PosDiff</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>576</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>640</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetVelo</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>704</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetAcc</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>768</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TargetPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>832</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ModuloSetPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>896</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ModuloSetTurns</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>960</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CmdNo</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>992</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CmdState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>1008</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetJerk</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1024</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetTorque</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1088</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActTorque</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1152</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>StateDWord2</Name>
|
|
<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>1216</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>StateDWord3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>1248</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TouchProbeState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>1280</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TouchProbeCounter</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>1312</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamCouplingState</Name>
|
|
<Type GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Type>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>8</Elements>
|
|
</ArrayInfo>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1344</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>CamCouplingTableID</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000039}">UINTARR8</Type>
|
|
<BitSize>128</BitSize>
|
|
<BitOffs>1408</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActTorqueDerivative</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1536</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetTorqueDerivative</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1600</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActPosWithoutPosCorrection</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1792</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActAcc</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1856</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>DcTimeStamp</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>1920</BitOffs>
|
|
</SubItem>
|
|
<Properties>
|
|
<Property>
|
|
<Name>NcStructType</Name>
|
|
<Value>2</Value>
|
|
</Property>
|
|
</Properties>
|
|
<Relations>
|
|
<Relation Priority="100">
|
|
<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{E8DA524A-605F-4879-82E6-B86EF6986572}">NCAXLESTRUCT_TOPLC2</Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{B507963E-69F3-4B64-BB8C-2BD7A560976D}">NCAXLESTRUCT_TOPLC3</Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{F794B740-82D7-4637-848E-4F74A711D038}">NCAXLESTRUCT_TOPLC4</Type>
|
|
</Relation>
|
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<Relation Priority="100">
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<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"/>
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<Relation Priority="100">
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<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"/>
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</Relation>
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<Relation Priority="100">
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|
<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"/>
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</Relation>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
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<BitSize>8</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>1</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
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<BitSize>4</BitSize>
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|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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|
<LBound>0</LBound>
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<Elements>4</Elements>
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|
</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
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|
<BitSize>6</BitSize>
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|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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|
<LBound>0</LBound>
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|
<Elements>6</Elements>
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|
</ArrayInfo>
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|
</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000010}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BYTE</Name>
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|
<BitSize>16</BitSize>
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|
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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|
<ArrayInfo>
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<LBound>0</LBound>
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<Elements>2</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
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<BitSize>2</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>2</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
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<BitSize>1</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>1</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
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<BitSize>3</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>3</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
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<BitSize>9</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>9</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
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<BitSize>12</BitSize>
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|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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|
<ArrayInfo>
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|
<LBound>0</LBound>
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<Elements>12</Elements>
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|
</ArrayInfo>
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</DataType>
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<DataType>
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|
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
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|
<BitSize>14</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>14</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
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<BitSize>13</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>13</Elements>
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</ArrayInfo>
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</DataType>
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</ImageDatas>
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<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="192.168.88.55.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
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<System>
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<Licenses>
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|
<Target>
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|
<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
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</Target>
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</Licenses>
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<Tasks>
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<Task Id="2" Priority="26" CycleTime="10000" AmsPort="350" AdtTasks="true">
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<Name>PlcTaskCom</Name>
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</Task>
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|
<Task Id="4" Priority="20" CycleTime="10000" AmsPort="351" AdtTasks="true">
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|
<Name>PlcTask</Name>
|
|
</Task>
|
|
</Tasks>
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|
</System>
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|
<Motion>
|
|
<NC>
|
|
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
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|
<Name>NC-Task 1 SAF</Name>
|
|
<Vars VarGrpType="1" InsertType="1">
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|
<Name>Inputs</Name>
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|
</Vars>
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<Vars VarGrpType="2" InsertType="1">
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<Name>Outputs</Name>
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|
</Vars>
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<Image Id="3" AddrType="1" ImageType="1">
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|
<Name>Image</Name>
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|
</Image>
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</SafTask>
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<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
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|
<Name>NC-Task 1 SVB</Name>
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|
</SvbTask>
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|
<Axis CreateSymbols="true" AxisType="1" Id="1">
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|
<Name>Axis 1</Name>
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|
<AxisPara>
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<Dynamic AccelerationMaximum="1500" DecelerationMaximum="1500" Acceleration="567.693" Deceleration="567.693" Jerk="5371.25"/>
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<Velo RefSearch="10" RefSync="10" SlowManual="20" FastManual="100" Maximum="120"/>
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<PositionAreaControl Range="0.05"/>
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|
<TargetPosControl Range="0.1" Time="0.5"/>
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|
<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
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|
</AxisPara>
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|
<Encoder Name="Enc" EncType="4">
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|
<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="2000" Inverse="true" MaxCount="#x0000ffff">
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|
<SoftEndMinControl Enable="true" Range="5"/>
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|
<SoftEndMaxControl Enable="true" Range="175"/>
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|
<Inc RefSoftSyncMask="#x0000ffff"/>
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|
</EncPara>
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<Vars VarGrpType="1">
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|
<Name>Inputs</Name>
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|
<Var>
|
|
<Name>In</Name>
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|
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
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|
<BitOffs>1024</BitOffs>
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|
<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn1</Name>
|
|
</SubVar>
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|
<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn2</Name>
|
|
</SubVar>
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|
<SubVar TypeFormatIndex="2">
|
|
<Name>nState1</Name>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nState4</Name>
|
|
<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>
|
|
</SubVar>
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<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn3</Name>
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|
</SubVar>
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<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn4</Name>
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|
</SubVar>
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<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn5</Name>
|
|
</SubVar>
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|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
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|
</SubVar>
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<SubVar TypeFormatIndex="2">
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|
<Name>nDataIn7</Name>
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|
</SubVar>
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</Var>
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</Vars>
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<Vars VarGrpType="2">
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|
<Name>Outputs</Name>
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<Var>
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|
<Name>Out</Name>
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|
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
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<BitOffs>2048</BitOffs>
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<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>
|
|
</Var>
|
|
</Vars>
|
|
</Encoder>
|
|
<Drive Name="Drive" DrvType="24">
|
|
<DrvPara>
|
|
<Analog VeloReferenz="600" ScaleFactorActTorque="0.1"/>
|
|
<TimeComp TaskDelayCycles="1"/>
|
|
</DrvPara>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>In</Name>
|
|
<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
|
|
<BitOffs>1344</BitOffs>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nState4</Name>
|
|
<Comment>
|
|
<![CDATA[Drive Status 4 (automatically linked):
|
|
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
|
|
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
|
|
|
|
Drive Status 4 (manually linked):
|
|
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
|
|
]]>
|
|
</Comment>
|
|
</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>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
|
|
<BitOffs>2368</BitOffs>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nCtrl2</Name>
|
|
<Comment>
|
|
<![CDATA[Digital Outputs Setpoint Generator:
|
|
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
|
|
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
|
|
0x80 (1000 0000) = Stop
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nCtrl3</Name>
|
|
<Comment>
|
|
<![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
|
|
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
|
|
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
|
|
0x80 (1000 0000) = Stop
|
|
]]>
|
|
</Comment>
|
|
</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>
|
|
</Var>
|
|
</Vars>
|
|
</Drive>
|
|
<Controller Name="Ctrl" CtrType="1">
|
|
<CtrPara PriorControlFactor="1">
|
|
<PosDiffControl Range="1" Time="0.5"/>
|
|
<PID PosKp="7"/>
|
|
<Observer BandWidth="20"/>
|
|
</CtrPara>
|
|
</Controller>
|
|
<Vars VarGrpType="1" InsertType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>FromPlc</Name>
|
|
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2" InsertType="1">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>ToPlc</Name>
|
|
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
|
<SubVar>
|
|
<Name>AxisState</Name>
|
|
<Comment>
|
|
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
|
0 = INACTIVE: axis has no job
|
|
1 = RUNNING: axis is executing a motion job
|
|
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
|
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
|
4 = PHASE_ACCPOS: axis is accelerating
|
|
5 = PHASE_ACCNEG: axis is decelerating
|
|
Slaves only:
|
|
11 = PREPHASE: slave axis is in a motion pre-phase
|
|
12 = SYNCHRONIZING: slave axis is synchronizing
|
|
13 = SYNCHRONOUS: slave axis is moving synchronously
|
|
External Setpoint Generation:
|
|
41 = EXTSETGEN_MODE1: external setpoint generation active
|
|
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>HomingState</Name>
|
|
<Comment>
|
|
<![CDATA[Axis Homing Status:
|
|
0: idle
|
|
1: start homing
|
|
2: searching home switch
|
|
3: stopping on home switch
|
|
4: moving off home switch
|
|
5: searching sync pulse
|
|
6: stopping after homing
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>CoupleState</Name>
|
|
<Comment>
|
|
<![CDATA[Axis Coupling Status:
|
|
0: axis is a single axis (not coupled)
|
|
1: axis is a master axis
|
|
2: axis is master and slave
|
|
3: axis is a slave axis
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Axis>
|
|
</NC>
|
|
</Motion>
|
|
<Plc>
|
|
<Project GUID="{F935F1DE-0753-4702-B418-1DC0ED040A4D}" Name="tc_epicscommodule" PrjFilePath="tc_epicscommodule\tc_epicscommodule.plcproj" TmcFilePath="tc_epicscommodule\tc_epicscommodule.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
|
|
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
|
|
<Name>tc_epicscommodule Instance</Name>
|
|
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
|
|
<TaskPouOids>
|
|
<TaskPouOid Prio="26" OTCID="#x08502001"/>
|
|
</TaskPouOids>
|
|
</Instance>
|
|
</Project>
|
|
<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="tc_project_app\tc_project_app.plcproj" TmcFilePath="tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
|
|
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
|
|
<Name>tc_project_app Instance</Name>
|
|
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
|
|
<Vars VarGrpType="1">
|
|
<Name>PlcTask Inputs</Name>
|
|
<Var>
|
|
<Name>GVL.axes[1].Axis.NcToPlc</Name>
|
|
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
|
<SubVar>
|
|
<Name>AxisState</Name>
|
|
<Comment>
|
|
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
|
0 = INACTIVE: axis has no job
|
|
1 = RUNNING: axis is executing a motion job
|
|
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
|
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
|
4 = PHASE_ACCPOS: axis is accelerating
|
|
5 = PHASE_ACCNEG: axis is decelerating
|
|
Slaves only:
|
|
11 = PREPHASE: slave axis is in a motion pre-phase
|
|
12 = SYNCHRONIZING: slave axis is synchronizing
|
|
13 = SYNCHRONOUS: slave axis is moving synchronously
|
|
External Setpoint Generation:
|
|
41 = EXTSETGEN_MODE1: external setpoint generation active
|
|
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>HomingState</Name>
|
|
<Comment>
|
|
<![CDATA[Axis Homing Status:
|
|
0: idle
|
|
1: start homing
|
|
2: searching home switch
|
|
3: stopping on home switch
|
|
4: moving off home switch
|
|
5: searching sync pulse
|
|
6: stopping after homing
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>CoupleState</Name>
|
|
<Comment>
|
|
<![CDATA[Axis Coupling Status:
|
|
0: axis is a single axis (not coupled)
|
|
1: axis is a master axis
|
|
2: axis is master and slave
|
|
3: axis is a slave axis
|
|
]]>
|
|
</Comment>
|
|
</SubVar>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bLimitFwd1</Name>
|
|
<Comment>
|
|
<![CDATA[M1:FB_DriveVirtual;
|
|
M2:FB_DriveVirtual;
|
|
M3:FB_DriveVirtual;
|
|
M4:FB_DriveVirtual;
|
|
M5:FB_DriveVirtual;
|
|
M6:FB_DriveVirtual;
|
|
M7:FB_DriveVirtual;
|
|
M8:FB_DriveVirtual;
|
|
*****Inputs (Limit switches and Home Sensors*******]]>
|
|
</Comment>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bLimitBwd1</Name>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bHomeSensor1</Name>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.aFBAxes[1].fbDriveVirtual.InfoData_State</Name>
|
|
<Type>UINT</Type>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>PlcTask Outputs</Name>
|
|
<Var>
|
|
<Name>GVL.axes[1].Axis.PlcToNc</Name>
|
|
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bOutput1</Name>
|
|
<Comment>
|
|
<![CDATA[bLimitFwd2 AT %I*: BOOL;
|
|
bLimitBwd2 AT %I*: BOOL;
|
|
bHomeSensor2 AT %I*: BOOL;
|
|
bLimitFwd3 AT %I*: BOOL;
|
|
bLimitBwd3 AT %I*: BOOL;
|
|
bHomeSensor3 AT %I*: BOOL;
|
|
bLimitFwd4 AT %I*: BOOL;
|
|
bLimitBwd4 AT %I*: BOOL;
|
|
bHomeSensor4 AT %I*: BOOL;
|
|
bLimitFwd5 AT %I*: BOOL;
|
|
bLimitBwd5 AT %I*: BOOL;
|
|
bHomeSensor5 AT %I*: BOOL;
|
|
bLimitFwd6 AT %I*: BOOL;
|
|
bLimitBwd6 AT %I*: BOOL;
|
|
bHomeSensor6 AT %I*: BOOL;
|
|
bLimitFwd7 AT %I*: BOOL;
|
|
bLimitBwd7 AT %I*: BOOL;
|
|
bHomeSensor7 AT %I*: BOOL;
|
|
bLimitFwd8 AT %I*: BOOL;
|
|
bLimitBwd8 AT %I*: BOOL;
|
|
bHomeSensor8 AT %I*: BOOL;
|
|
*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
|
|
</Comment>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bOutput2</Name>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
<Var>
|
|
<Name>MAIN.bOutput3</Name>
|
|
<Type>BOOL</Type>
|
|
</Var>
|
|
</Vars>
|
|
<TaskPouOids>
|
|
<TaskPouOid Prio="20" OTCID="#x08502041"/>
|
|
</TaskPouOids>
|
|
</Instance>
|
|
</Project>
|
|
</Plc>
|
|
<Io>
|
|
<Device DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="192.168.88.55.2.1" RemoteName="Device 1 (EtherCAT)" Id="1">
|
|
<Name>Device 1 (EtherCAT)</Name>
|
|
<AddressInfo>
|
|
<Ccat>
|
|
<Address>-801112064</Address>
|
|
<Offset>131072</Offset>
|
|
<Size>8192</Size>
|
|
<BaseAddr>0</BaseAddr>
|
|
<BusNo>3</BusNo>
|
|
<SlotNo>0</SlotNo>
|
|
<VendorId>5612</VendorId>
|
|
<DeviceId>20480</DeviceId>
|
|
<Dma>
|
|
<Address>0</Address>
|
|
<Offset>4096</Offset>
|
|
<Size>256</Size>
|
|
<BaseAddr>2</BaseAddr>
|
|
<RxChn>0</RxChn>
|
|
<TxChn>1</TxChn>
|
|
</Dma>
|
|
<Identification>
|
|
<Value>498694182</Value>
|
|
<Version>1</Version>
|
|
<Size>256</Size>
|
|
</Identification>
|
|
</Ccat>
|
|
</AddressInfo>
|
|
<Image Id="1" AddrType="9" ImageType="3">
|
|
<Name>Image</Name>
|
|
</Image>
|
|
<Image Id="4" AddrType="10" ImageType="3">
|
|
<Name>Image-2</Name>
|
|
</Image>
|
|
<Box BoxType="9099" Id="1">
|
|
<Name>Term 1 (EK1200)</Name>
|
|
<ImageId>1000</ImageId>
|
|
<EtherCAT PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04b02c52" RevisionNo="#x00001388" InfoDataState="false" PortPhys="49" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1200-5000 EtherCAT Power supply (2A E-Bus)" Desc="EK1200" PortABoxInfo="#x00ffffff"/>
|
|
<Box BoxType="9099" Id="2">
|
|
<Name>Term 2 (EL1018)</Name>
|
|
<ImageId>7</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x03fa3052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1018 8Ch. Dig. Input 24V, 10µs" Desc="EL1018" PortABoxInfo="#x01000001">
|
|
<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>
|
|
<Box BoxType="9099" Id="3">
|
|
<Name>Term 3 (EL2808)</Name>
|
|
<ImageId>1001</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x0af83052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2808 8Ch. Dig. Output 24V, 0.5A" Desc="EL2808" PortABoxInfo="#x01000002">
|
|
<SyncMan>000f01004400010003000000010001000100000f44090000</SyncMan>
|
|
<Fmmu>0000000000000000000f00020100000001000000000000000000000000000000</Fmmu>
|
|
<Pdo Name="Channel 1" Index="#x1600" InOut="1" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Output" Index="#x7000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Channel 2" Index="#x1601" InOut="1" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Output" Index="#x7010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Channel 3" Index="#x1602" InOut="1" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Output" Index="#x7020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Channel 4" Index="#x1603" InOut="1" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Output" Index="#x7030" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<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>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Channel 7" Index="#x1606" InOut="1" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Output" Index="#x7060" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</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>
|
|
<Box BoxType="9099" BoxFlags="#x00000020" Id="4">
|
|
<Name>Term 4 (EL5101)</Name>
|
|
<ImageId>1002</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0c05" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x13ed3052" RevisionNo="#x04000000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5101 1Ch. Inc. Encoder 5V" Desc="EL5101" PortABoxInfo="#x01000003">
|
|
<SyncMan>001830002600010001000000300030003000001826010000</SyncMan>
|
|
<SyncMan>801830002200010002000000300030003000801822010000</SyncMan>
|
|
<SyncMan>001004002400010003000000000000000300001024010000</SyncMan>
|
|
<SyncMan>001106002000010004000000000000000500001120010000</SyncMan>
|
|
<Fmmu>0000000000000000001000020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000001100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000020030100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000020030100000000000000000001000000000000000000000000000000000000000000</DcMode>
|
|
<Pdo Name="Inputs" Index="#x1a00" Flags="#x0010">
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<Entry Name="Status" Index="#x6000" Sub="#x01">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6000" Sub="#x02">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch" Index="#x6000" Sub="#x03">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Inputs" Index="#x1a01" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<Entry Name="Status" Index="#x6000" Sub="#x01">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6000" Sub="#x02">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch" Index="#x6000" Sub="#x03">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Inputs" Index="#x1a02" Flags="#x0010">
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<Entry Name="Frequency" Index="#x6000" Sub="#x04">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Period" Index="#x6000" Sub="#x05">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Window" Index="#x6000" Sub="#x06">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Status compact" Index="#x1a03" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Latch C valid" Index="#x6010" Sub="#x01" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Latch extern valid" Index="#x6010" Sub="#x02" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Set counter done" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter underflow" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter overflow" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input status" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Open circuit" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Extrapolation stall" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input A" Index="#x6010" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input B" Index="#x6010" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input C" Index="#x6010" Sub="#x0b" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input gate" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of extern latch" Index="#x6010" Sub="#x0d" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Sync error" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x6010" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Counter value" Index="#x6010" Sub="#x11">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch value" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Status" Index="#x1a04" Flags="#x0010">
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Latch C valid" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Latch extern valid" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Set counter done" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter underflow" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter overflow" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input status" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Open circuit" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Extrapolation stall" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input A" Index="#x6010" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input B" Index="#x6010" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input C" Index="#x6010" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input gate" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of extern latch" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Sync error" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x6010" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Counter value" Index="#x6010" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch value" Index="#x6010" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Frequency" Index="#x1a05" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<Entry Name="Frequency value" Index="#x6010" Sub="#x13">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Period" Index="#x1a06" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<Entry Name="Period value" Index="#x6010" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Timest." Index="#x1a07" Flags="#x0010">
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Timestamp" Index="#x6010" Sub="#x16">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Timest. compact" Index="#x1a08" Flags="#x0010">
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Timestamp" Index="#x6010" Sub="#x16">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<Entry Name="Ctrl" Index="#x7000" Sub="#x01">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x7000" Sub="#x02">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Outputs" Index="#x1601" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<Entry Name="Ctrl" Index="#x7000" Sub="#x01">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x7000" Sub="#x02">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Control compact" Index="#x1602" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<Entry Name="Control__Enable latch C" Index="#x7010" Sub="#x01" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7010" Sub="#x02" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Set counter" Index="#x7010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="Set counter value" Index="#x7010" Sub="#x11">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Control" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<Entry Name="Control__Enable latch C" Index="#x7010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Set counter" Index="#x7010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="Set counter value" Index="#x7010" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33428361" DisplayName="MDP 510"/>
|
|
<CoeProfile ProfileNo="33493897" DisplayName="MDP 511"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box BoxType="9099" Id="5">
|
|
<Name>Term 5 (EL9505)</Name>
|
|
<ImageId>1003</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x25213052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9505 Power supply terminal 5V" Desc="EL9505" PortABoxInfo="#x01000004">
|
|
<SyncMan>001001000000010004000000000000000000001000000000</SyncMan>
|
|
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
|
|
<Pdo Name="Status Uo" Index="#x1a00" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Power OK" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Overload" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box BoxType="9099" Id="6">
|
|
<Name>Term 6 (EL1252-0050)</Name>
|
|
<ImageId>7</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04e43052" RevisionNo="#x00110032" InfoDataDcTimes="true" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1252-0050 2Ch. Fast Dig. Input 5V, 1µs, DC Latch" Desc="EL1252-0050" PortABoxInfo="#x01000005">
|
|
<SyncMan>001001002000010004000000000000000100001022010000</SyncMan>
|
|
<SyncMan>ae0922000000000004000000000000000000ae0900040000</SyncMan>
|
|
<SyncMan>100900000000000004000000000000000000100900040000</SyncMan>
|
|
<Fmmu>0000000000000000001000010100000002000000060000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000ae0900010100000002000000060000000100000000000000</Fmmu>
|
|
<Fmmu>0000000000000000100900010000000002000000060000000200000000000000</Fmmu>
|
|
<DcData>0001000000000000000000000000000000000000000000000000000000000000</DcData>
|
|
<DcMode>44634c617463680000000000000000004443204c617463682053657474696e6773000000000000000000000000000000000000000000000000000000000000010000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<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="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Reserved" Index="#x1a02" Flags="#x0011" SyncMan="0"/>
|
|
<Pdo Name="Latch" Index="#x1a10" Flags="#x0030">
|
|
<ExcludePdo>#x1a11</ExcludePdo>
|
|
<ExcludePdo>#x1a12</ExcludePdo>
|
|
<ExcludePdo>#x1a13</ExcludePdo>
|
|
<ExcludePdo>#x1a16</ExcludePdo>
|
|
<Entry Name="Status1" Index="#x1d09" Sub="#xae">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="Status2" Index="#x1d09" Sub="#xaf">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Latch" Index="#x1a11" Flags="#x0030">
|
|
<ExcludePdo>#x1a10</ExcludePdo>
|
|
<ExcludePdo>#x1a12</ExcludePdo>
|
|
<ExcludePdo>#x1a13</ExcludePdo>
|
|
<ExcludePdo>#x1a16</ExcludePdo>
|
|
<Entry Name="Status1" Index="#x1d09" Sub="#xae">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos2" Index="#x1d09" Sub="#xb0">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Latch" Index="#x1a12" Flags="#x0030">
|
|
<ExcludePdo>#x1a10</ExcludePdo>
|
|
<ExcludePdo>#x1a11</ExcludePdo>
|
|
<ExcludePdo>#x1a13</ExcludePdo>
|
|
<ExcludePdo>#x1a16</ExcludePdo>
|
|
<Entry Name="Status1" Index="#x1d09" Sub="#xae">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos1" Index="#x1d09" Sub="#xb0">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchNeg1" Index="#x1d09" Sub="#xb8">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Latch" Index="#x1a13" Flags="#x0030" SyncMan="1">
|
|
<ExcludePdo>#x1a10</ExcludePdo>
|
|
<ExcludePdo>#x1a11</ExcludePdo>
|
|
<ExcludePdo>#x1a12</ExcludePdo>
|
|
<ExcludePdo>#x1a16</ExcludePdo>
|
|
<Entry Name="Status1" Index="#x1d09" Sub="#xae">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="Status2" Index="#x1d09" Sub="#xaf">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos1" Index="#x1d09" Sub="#xb0">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchNeg1" Index="#x1d09" Sub="#xb8">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos2" Index="#x1d09" Sub="#xc0">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchNeg2" Index="#x1d09" Sub="#xc8">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="SysTime" Index="#x1a14" Flags="#x0030">
|
|
<ExcludePdo>#x1a15</ExcludePdo>
|
|
<Entry Name="SysTime" Index="#x1d09" Sub="#x10">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="SysTime" Index="#x1a15" Flags="#x0030">
|
|
<ExcludePdo>#x1a14</ExcludePdo>
|
|
<Entry Name="SysTime" Index="#x1d09" Sub="#x10">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Latch" Index="#x1a16" Flags="#x0030">
|
|
<ExcludePdo>#x1a10</ExcludePdo>
|
|
<ExcludePdo>#x1a11</ExcludePdo>
|
|
<ExcludePdo>#x1a12</ExcludePdo>
|
|
<ExcludePdo>#x1a13</ExcludePdo>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000010}">ARRAY [0..1] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos1" Index="#x6000" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchNeg1" Index="#x6000" Sub="#x13">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchPos2" Index="#x6010" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
<Entry Name="LatchNeg2" Index="#x6010" Sub="#x13">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="8197001"/>
|
|
<CoeProfile ProfileNo="8197001"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box BoxType="9099" Id="7">
|
|
<Name>Term 7 (EL9410)</Name>
|
|
<ImageId>1003</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x24c23052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9410 E-Bus Power Supplier (Diagnostics)" Desc="EL9410" PortABoxInfo="#x01000006">
|
|
<SyncMan>001001000000010004000000000000000000001000000000</SyncMan>
|
|
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
|
|
<Pdo Name="Status Us" Index="#x1a00" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Undervoltage" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Status Up" Index="#x1a01" Flags="#x0011" SyncMan="0">
|
|
<Entry Name="Undervoltage" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box BoxType="9099" BoxFlags="#x00000020" Id="8">
|
|
<Name>Term 8 (EL7037)</Name>
|
|
<ImageId>1004</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1b7d3052" RevisionNo="#x00110000" InfoDataAddr="true" InfoDataSoeDS401="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7037 1Ch. Stepper motor output stage (24V, 1.5A)" Desc="EL7037" PortABoxInfo="#x01000007">
|
|
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
|
<SyncMan>001108002400010003000000000000000800001124010000</SyncMan>
|
|
<SyncMan>801108002000010004000000000000000800801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000110000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<Pdo Name="ENC Status compact" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<Entry Name="Status__Latch C valid" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Latch extern valid" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Set counter done" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter underflow" Index="#x6000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter overflow" Index="#x6000" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Extrapolation stall" Index="#x6000" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input A" Index="#x6000" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input B" Index="#x6000" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input C" Index="#x6000" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of extern latch" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Sync error" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x6000" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Counter value" Index="#x6000" Sub="#x11">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch value" Index="#x6000" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Status" Index="#x1a01" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<Entry Name="Status__Latch C valid" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Latch extern valid" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Set counter done" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter underflow" Index="#x6000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Counter overflow" Index="#x6000" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Extrapolation stall" Index="#x6000" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input A" Index="#x6000" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input B" Index="#x6000" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of input C" Index="#x6000" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Status of extern latch" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Sync error" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x6000" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Counter value" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Latch value" Index="#x6000" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Timest. compact" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Timestamp" Index="#x6000" Sub="#x16">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Status" Index="#x1a03" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Status__Ready to enable" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Warning" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Moving positive" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Moving negative" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Torque reduced" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Motor stall" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Digital input 1" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Digital input 2" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Sync error" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x6010" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Synchron info data" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" Index="#x6010" Sub="#x11">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Info data 2" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Motor load" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Motor load" Index="#x6010" Sub="#x13">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="POS Status compact" Index="#x1a06" Flags="#x0010">
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<Entry Name="Status__Busy" Index="#x6020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__In-Target" Index="#x6020" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Warning" Index="#x6020" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6020" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Calibrated" Index="#x6020" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Accelerate" Index="#x6020" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Decelerate" Index="#x6020" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="POS Status" Index="#x1a07" Flags="#x0010">
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<Entry Name="Status__Busy" Index="#x6020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__In-Target" Index="#x6020" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Warning" Index="#x6020" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6020" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Calibrated" Index="#x6020" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Accelerate" Index="#x6020" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Decelerate" Index="#x6020" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Actual position" Index="#x6020" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Actual velocity" Index="#x6020" Sub="#x21">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="Actual drive time" Index="#x6020" Sub="#x22">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Internal position" Index="#x1a08" Flags="#x0010">
|
|
<Entry Name="Internal position" Index="#x6010" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM External position" Index="#x1a09" Flags="#x0010">
|
|
<Entry Name="External position" Index="#x6010" Sub="#x15">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Control compact" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<Entry Name="Control__Enable latch C" Index="#x7000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Set counter" Index="#x7000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Set counter value" Index="#x7000" Sub="#x11">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="ENC Control" Index="#x1601" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<Entry Name="Control__Enable latch C" Index="#x7000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Set counter" Index="#x7000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Set counter value" Index="#x7000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Control" Index="#x1602" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Control__Enable" Index="#x7010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Reset" Index="#x7010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Reduce torque" Index="#x7010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Digital output 1" Index="#x7010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Position" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<Entry Name="Position" Index="#x7010" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="STM Velocity" Index="#x1604" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<Entry Name="Velocity" Index="#x7010" Sub="#x21">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="POS Control compact" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<Entry Name="Control__Execute" Index="#x7020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Emergency stop" Index="#x7020" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Target position" Index="#x7020" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="POS Control" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<Entry Name="Control__Execute" Index="#x7020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Emergency stop" Index="#x7020" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Target position" Index="#x7020" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Velocity" Index="#x7020" Sub="#x21">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="Start type" Index="#x7020" Sub="#x22">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Acceleration" Index="#x7020" Sub="#x23">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Deceleration" Index="#x7020" Sub="#x24">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="POS Control 2" Index="#x1607" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Enable auto start" Index="#x7021" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Target position" Index="#x7021" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Velocity" Index="#x7021" Sub="#x21">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="Start type" Index="#x7021" Sub="#x22">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Acceleration" Index="#x7021" Sub="#x23">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Deceleration" Index="#x7021" Sub="#x24">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33493897" DisplayName="Stepper interface"/>
|
|
<CoeProfile ProfileNo="46076809" DisplayName="Stepper interface"/>
|
|
<CoeProfile ProfileNo="46142345" DisplayName="Positioning interfa"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box BoxType="9099" Id="9">
|
|
<Name>Term 9 (EL9011)</Name>
|
|
<ImageId>1005</ImageId>
|
|
<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011" PortABoxInfo="#x01000008"/>
|
|
</Box>
|
|
</Box>
|
|
<EtherCAT DcSyncMode="3"/>
|
|
</Device>
|
|
</Io>
|
|
</Project>
|
|
<Mappings>
|
|
<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030020" Watchdog="04000000080000000400000004000000"/>
|
|
<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
|
|
<MappingInfo Identifier="{00000000-2041-0850-4020-500841000403}" Id="#x02030030"/>
|
|
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5101)">
|
|
<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
|
|
<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
|
|
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
|
|
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
|
|
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
|
|
<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 8 (EL7037)">
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving positive" Size="1" OffsA="4"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Torque reduced" Size="1" OffsA="6"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Warning" Size="1" OffsA="2"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 1" Size="1" OffsA="3"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 2" Size="1" OffsA="4"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Sync error" Size="1" OffsA="5"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^TxPDO Toggle" Size="1" OffsA="7"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reduce torque" Size="1" OffsA="2"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
|
|
<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 2 (EL1018)">
|
|
<Link VarA="PlcTask Inputs^MAIN.bHomeSensor1" VarB="Channel 3^Input"/>
|
|
<Link VarA="PlcTask Inputs^MAIN.bLimitBwd1" VarB="Channel 2^Input"/>
|
|
<Link VarA="PlcTask Inputs^MAIN.bLimitFwd1" VarB="Channel 1^Input"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 3 (EL2808)">
|
|
<Link VarA="PlcTask Outputs^MAIN.bOutput1" VarB="Channel 1^Output"/>
|
|
<Link VarA="PlcTask Outputs^MAIN.bOutput2" VarB="Channel 2^Output"/>
|
|
<Link VarA="PlcTask Outputs^MAIN.bOutput3" VarB="Channel 3^Output"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
|
|
<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
|
|
<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
</Mappings>
|
|
</TcSmProject>
|