8215 lines
337 KiB
XML
8215 lines
337 KiB
XML
<?xml version="1.0"?>
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<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.67">
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<DataTypes>
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<DataType>
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<Name GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}" TcBaseType="true" HideType="true">UINTARR2_2</Name>
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|
<BitSize>32</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</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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|
<Format>
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|
<Printf>0x%08X (%d)</Printf>
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<Parameter>.</Parameter>
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<Parameter>.</Parameter>
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</Format>
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</DataType>
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<DataType>
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<Name GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}" TcBaseType="true" HideType="true">UDINTARR2_2</Name>
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|
<BitSize>64</BitSize>
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<BaseType GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}">UINTARR2_2</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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|
<Format>
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|
<Printf>0x%016I64X (%I64d)</Printf>
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|
<Parameter>.</Parameter>
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|
<Parameter>.</Parameter>
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|
</Format>
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</DataType>
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<DataType>
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<Name GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN3</Name>
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<BitSize>640</BitSize>
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<SubItem>
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<Name>nDataIn1</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn2</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>64</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn3</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>128</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn4</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>192</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn5</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>256</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn6</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>320</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn7</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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|
<BitSize>64</BitSize>
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<BitOffs>384</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataIn8</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
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<BitOffs>448</BitOffs>
|
|
</SubItem>
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<SubItem>
|
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<Name>nState1</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>512</BitOffs>
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</SubItem>
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<SubItem>
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|
<Name>nState2</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>528</BitOffs>
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</SubItem>
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<SubItem>
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|
<Name>nState3</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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|
<BitOffs>544</BitOffs>
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</SubItem>
|
|
<SubItem>
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|
<Name>nState4</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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|
<BitSize>16</BitSize>
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|
<BitOffs>560</BitOffs>
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</SubItem>
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|
<SubItem>
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<Name>nState5</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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|
<BitSize>16</BitSize>
|
|
<BitOffs>576</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nComState</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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|
<BitSize>16</BitSize>
|
|
<BitOffs>592</BitOffs>
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|
</SubItem>
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|
<SubItem>
|
|
<Name>nDcInputTime</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>608</BitOffs>
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|
</SubItem>
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|
</DataType>
|
|
<DataType>
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<Name GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT3</Name>
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|
<BitSize>640</BitSize>
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<SubItem>
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<Name>nDataOut1</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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|
<BitSize>64</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>nDataOut2</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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|
<BitSize>64</BitSize>
|
|
<BitOffs>64</BitOffs>
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|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut3</Name>
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|
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>128</BitOffs>
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|
</SubItem>
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|
<SubItem>
|
|
<Name>nDataOut4</Name>
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|
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
|
|
<BitOffs>192</BitOffs>
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</SubItem>
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<SubItem>
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|
<Name>nDataOut5</Name>
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|
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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|
<BitSize>64</BitSize>
|
|
<BitOffs>256</BitOffs>
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|
</SubItem>
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<SubItem>
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|
<Name>nDataOut6</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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<BitSize>64</BitSize>
|
|
<BitOffs>320</BitOffs>
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</SubItem>
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<SubItem>
|
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<Name>nDataOut7</Name>
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<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
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|
<BitSize>64</BitSize>
|
|
<BitOffs>384</BitOffs>
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|
</SubItem>
|
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<SubItem>
|
|
<Name>nDataOut8</Name>
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|
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>512</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>528</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl3</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>544</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>560</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>576</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nComCtrl</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>592</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
|
|
<BitSize>32</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>2</Elements>
|
|
</ArrayInfo>
|
|
<Format Name="ArrayView" Preview="[%u, %u]">
|
|
<Printf>[%u, %u]</Printf>
|
|
<Parameter>[0]</Parameter>
|
|
<Parameter>[1]</Parameter>
|
|
</Format>
|
|
<Format Name="MixedView" Preview="%x [%u, %u]">
|
|
<Printf>0x%08x [%u, %u]</Printf>
|
|
<Parameter>.</Parameter>
|
|
<Parameter>[0]</Parameter>
|
|
<Parameter>[1]</Parameter>
|
|
</Format>
|
|
<Format Name="32bitView" Preview="%x (%u)">
|
|
<Printf>0x%08x (%u)</Printf>
|
|
<Parameter>.</Parameter>
|
|
<Parameter>.</Parameter>
|
|
</Format>
|
|
</DataType>
|
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<DataType>
|
|
<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
|
|
<BitSize>320</BitSize>
|
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<SubItem>
|
|
<Name>nDataIn1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
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<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
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</SubItem>
|
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<SubItem>
|
|
<Name>nDataIn2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<Comment><![CDATA[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>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>88</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>232</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState8</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<Comment><![CDATA[Digital Inputs 1..8
|
|
]]></Comment>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>248</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDcOutputTime</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
</SubItem>
|
|
<Relations>
|
|
<Relation>
|
|
<Type GUID="{9AC463DC-3417-4DEA-AD2A-5FBD4C9C15AA}">NCDRIVESTRUCT_IN</Type>
|
|
<MapEntry>
|
|
<BitSize>96</BitSize>
|
|
</MapEntry>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_OUT2</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<Name>nDataOut1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>88</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>232</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl8</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>248</BitOffs>
|
|
</SubItem>
|
|
<Relations>
|
|
<Relation>
|
|
<Type GUID="{595E16A9-7783-4B1C-A30C-48BA6EFCC859}">NCDRIVESTRUCT_OUT</Type>
|
|
<MapEntry>
|
|
<BitSize>96</BitSize>
|
|
</MapEntry>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<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">
|
|
<Printf>%08x</Printf>
|
|
</Format>
|
|
<Format Name="Cpp">
|
|
<Printf>0x%08x</Printf>
|
|
</Format>
|
|
<Format Name="IEC">
|
|
<Printf>16#%08X</Printf>
|
|
</Format>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" 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>
|
|
<SubItem>
|
|
<Name>ExtTorque</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>896</BitOffs>
|
|
</SubItem>
|
|
<Properties>
|
|
<Property>
|
|
<Name>NcStructType</Name>
|
|
<Value>1</Value>
|
|
</Property>
|
|
</Properties>
|
|
<Relations>
|
|
<Relation Priority="100">
|
|
<Type GUID="{60392271-8688-4F4C-B404-618DF106325D}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}"></Type>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" 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>IsDriveLimitActive</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>18</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>
|
|
<Relations>
|
|
<Relation Priority="100">
|
|
<Type>{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}</Type>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{6BDEED54-7268-405F-A18B-665A0AE0FEE9}" 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>OpModeStopMonitoring</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>12</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeOutputSmoothingFilter</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>13</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="{F7B9FC50-054E-4547-B468-83A9E72D8064}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE3_FLAGS</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>TouchProbe1InputState </Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TouchProbe2InputState </Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</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="{60E203BA-3CEE-4BB0-8728-643B1F529592}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE3</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="{F7B9FC50-054E-4547-B468-83A9E72D8064}" Namespace="MC">NCTOPLC_AXIS_REF_STATE3_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="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
|
|
<BitSize>2048</BitSize>
|
|
<SubItem>
|
|
<Name>StateDWord</Name>
|
|
<Type GUID="{CBC83B73-B816-4597-A9E5-2B03263CA131}" 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="{6BDEED54-7268-405F-A18B-665A0AE0FEE9}" 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="{60E203BA-3CEE-4BB0-8728-643B1F529592}" Namespace="MC">NCTOPLC_AXIS_REF_STATE3</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>AbsPhasingPos</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1664</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TorqueOffset</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1728</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>
|
|
<SubItem>
|
|
<Name>UserData</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>1984</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>
|
|
<Relation Priority="100">
|
|
<Type GUID="{40BD39B0-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{40BD39B2-C3EA-4F74-9F4F-5F1982786F7C}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{8CDE0C45-AB9D-42DB-BC94-1CF7521AB268}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}"></Type>
|
|
</Relation>
|
|
<Relation Priority="100">
|
|
<Type GUID="{10036166-C9D3-404B-BDD3-323034AAA7F4}"></Type>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<Name>nDataIn1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<Comment><![CDATA[Encoder Status 4 (automatically linked):
|
|
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
|
|
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
|
|
]]></Comment>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>88</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>232</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nState8</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>248</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDcInputTime</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataIn7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<Comment><![CDATA[Drive Velocity Actual Value
|
|
]]></Comment>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
</SubItem>
|
|
<Relations>
|
|
<Relation>
|
|
<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
|
|
<MapEntry>
|
|
<BitSize>96</BitSize>
|
|
</MapEntry>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<Name>nDataOut1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl1</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>88</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut3</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nDataOut6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>232</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>nCtrl8</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>248</BitOffs>
|
|
</SubItem>
|
|
<Relations>
|
|
<Relation>
|
|
<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
|
|
<MapEntry>
|
|
<BitSize>96</BitSize>
|
|
</MapEntry>
|
|
</Relation>
|
|
</Relations>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-00200000000B}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..10] OF BIT</Name>
|
|
<BitSize>11</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>11</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
|
|
<BitSize>14</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>14</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
|
<BitSize>5</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>5</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
|
|
<BitSize>4</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>4</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
|
|
<BitSize>7</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>7</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
|
|
<BitSize>13</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>13</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
|
<BitSize>1</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>1</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
|
<BitSize>9</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>9</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
|
<BitSize>3</BitSize>
|
|
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>3</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
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|
<Name>NC-Task 1 SVB</Name>
|
|
</SvbTask>
|
|
<Axis Id="1" CreateSymbols="true" AxisType="1">
|
|
<Name>Axis 1</Name>
|
|
<AxisPara>
|
|
<Dynamic Acceleration="28.475" Deceleration="28.475" Jerk="85.425"/>
|
|
<Velo RefSearch="0.189833333333333" RefSync="0.189833333333333" SlowManual="0.949166666666667" FastManual="5.695" Fast="18.9833333333333" Maximum="18.9833333333333"/>
|
|
<OtherSettings AllowMotionCmdToSlave="true"/>
|
|
</AxisPara>
|
|
<Encoder Name="Enc" EncType="29">
|
|
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" MaxCount="#xffffffff">
|
|
<Inc RefSoftSyncMask="#xffffffff"/>
|
|
</EncPara>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>In</Name>
|
|
<Type GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC">NCENCODERSTRUCT_IN3</Type>
|
|
<SubVar>
|
|
<Name>nState1</Name>
|
|
<Comment><![CDATA[Encoder State 1 (automatically linked):
|
|
0x0001 (Bit 0) = Warning
|
|
0x0002 (Bit 1) = Error
|
|
0x0004 (Bit 2) = Ready
|
|
0x1000 (Bit 12) = Diagnosis
|
|
0x2000 (Bit 13) = TxPDO State
|
|
0xC000 (Bit 14+15) = Input Cycle Counter
|
|
]]></Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nComState</Name>
|
|
<Comment><![CDATA[Encoder Communication State (automatically linked):
|
|
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
|
|
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
|
|
]]></Comment>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC">NCENCODERSTRUCT_OUT3</Type>
|
|
</Var>
|
|
</Vars>
|
|
</Encoder>
|
|
<Drive Name="Drive" DrvType="16">
|
|
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
|
|
<Analog VeloReferenz="20.8816666666667" VeloScale="32" TorqueSetpointScale="10" 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>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Drive>
|
|
<Controller Name="Ctrl" CtrType="1">
|
|
<CtrPara PriorControlFactor="1">
|
|
<PID PosKp="30"/>
|
|
<Observer BandWidth="20"/>
|
|
</CtrPara>
|
|
</Controller>
|
|
<Vars VarGrpType="1" InsertType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>FromPlc</Name>
|
|
<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2" InsertType="1">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>ToPlc</Name>
|
|
<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
</Axis>
|
|
<Axis Id="2" CreateSymbols="true" AxisType="1">
|
|
<Name>Axis 2</Name>
|
|
<AxisPara>
|
|
<OtherSettings AllowMotionCmdToSlave="true"/>
|
|
</AxisPara>
|
|
<Encoder Name="Enc" EncType="19">
|
|
<EncPara MaxCount="#xffffffff"/>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>In</Name>
|
|
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn7</Name>
|
|
<Comment><![CDATA[Drive Velocity Actual Value
|
|
]]></Comment>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Encoder>
|
|
<Drive Name="Drive" DrvType="16">
|
|
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
|
|
<Analog TorqueSetpointScale="10" 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>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Drive>
|
|
<Controller Name="Ctrl" CtrType="1">
|
|
<CtrPara PriorControlFactor="1">
|
|
<Observer BandWidth="20"/>
|
|
</CtrPara>
|
|
</Controller>
|
|
<Vars VarGrpType="1" InsertType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>FromPlc</Name>
|
|
<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2" InsertType="1">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>ToPlc</Name>
|
|
<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
</Axis>
|
|
<Axis Id="3" CreateSymbols="true" AxisType="1">
|
|
<Name>Axis 3</Name>
|
|
<AxisPara>
|
|
<OtherSettings AllowMotionCmdToSlave="true"/>
|
|
</AxisPara>
|
|
<Encoder Name="Enc" EncType="19">
|
|
<EncPara MaxCount="#xffffffff"/>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>In</Name>
|
|
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn7</Name>
|
|
<Comment><![CDATA[Drive Velocity Actual Value
|
|
]]></Comment>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Encoder>
|
|
<Drive Name="Drive" DrvType="16">
|
|
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
|
|
<Analog TorqueSetpointScale="10" 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>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataIn6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut1</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut2</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut3</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut4</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut5</Name>
|
|
</SubVar>
|
|
<SubVar TypeFormatIndex="2">
|
|
<Name>nDataOut6</Name>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
</Drive>
|
|
<Controller Name="Ctrl" CtrType="1">
|
|
<CtrPara PriorControlFactor="1">
|
|
<Observer BandWidth="20"/>
|
|
</CtrPara>
|
|
</Controller>
|
|
<Vars VarGrpType="1" InsertType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>FromPlc</Name>
|
|
<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2" InsertType="1">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>ToPlc</Name>
|
|
<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
|
</Var>
|
|
</Vars>
|
|
</Axis>
|
|
<Axis Id="4" CreateSymbols="true" AxisType="1">
|
|
<Name>Axis 4</Name>
|
|
<AxisPara>
|
|
<Dynamic Acceleration="28.475" Deceleration="28.475" Jerk="85.425"/>
|
|
<Velo RefSearch="0.189833333333333" RefSync="0.189833333333333" SlowManual="0.949166666666667" FastManual="5.695" Fast="18.9833333333333" Maximum="18.9833333333333"/>
|
|
<OtherSettings AllowMotionCmdToSlave="true"/>
|
|
</AxisPara>
|
|
<Encoder Name="Enc" EncType="29">
|
|
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" MaxCount="#xffffffff">
|
|
<Inc RefSoftSyncMask="#xffffffff"/>
|
|
</EncPara>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>In</Name>
|
|
<Type GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC">NCENCODERSTRUCT_IN3</Type>
|
|
<SubVar>
|
|
<Name>nState1</Name>
|
|
<Comment><![CDATA[Encoder State 1 (automatically linked):
|
|
0x0001 (Bit 0) = Warning
|
|
0x0002 (Bit 1) = Error
|
|
0x0004 (Bit 2) = Ready
|
|
0x1000 (Bit 12) = Diagnosis
|
|
0x2000 (Bit 13) = TxPDO State
|
|
0xC000 (Bit 14+15) = Input Cycle Counter
|
|
]]></Comment>
|
|
</SubVar>
|
|
<SubVar>
|
|
<Name>nComState</Name>
|
|
<Comment><![CDATA[Encoder Communication State (automatically linked):
|
|
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
|
|
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
|
|
]]></Comment>
|
|
</SubVar>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>Out</Name>
|
|
<Type GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC">NCENCODERSTRUCT_OUT3</Type>
|
|
</Var>
|
|
</Vars>
|
|
</Encoder>
|
|
<Drive Name="Drive" DrvType="16">
|
|
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00020000">
|
|
<Analog VeloReferenz="20.8816666666667" VeloScale="32" TorqueSetpointScale="10" 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>
|
|
<SubVar TypeFormatIndex="2">
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<Name>nDataIn2</Name>
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<Name>nDataIn3</Name>
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<Name>nDataIn4</Name>
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<Name>nDataIn5</Name>
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<Name>nDataIn6</Name>
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<Name>nDataOut1</Name>
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<Name>nDataOut2</Name>
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<Name>nDataOut3</Name>
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<Name>nDataOut4</Name>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut5</Name>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut6</Name>
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</SubVar>
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</Var>
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</Drive>
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<Controller Name="Ctrl" CtrType="1">
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<PID PosKp="30"/>
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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<Name>Inputs</Name>
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<Var>
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<Name>FromPlc</Name>
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<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Vars VarGrpType="2" InsertType="1">
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<Name>Outputs</Name>
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<Var>
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<Name>ToPlc</Name>
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<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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</Axis>
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</NC>
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</Motion>
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<Plc>
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<Project GUID="{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}" Name="Untitled1" PrjFilePath="Untitled1\Untitled1.plcproj" TmcFilePath="Untitled1\Untitled1.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
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<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Untitled1\Untitled1.tmc" TmcHash="{E5E24B41-0653-809F-F8C5-7DF9AD2DD43B}">
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<Name>Untitled1 Instance</Name>
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<Name>PlcTask Inputs</Name>
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<Var>
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<Name>MAIN.Nc_AxisN[0].NcToPlc</Name>
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<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>MAIN.Nc_AxisN[1].NcToPlc</Name>
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<Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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<Var>
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<Name>MAIN.bEndSwitchR</Name>
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<Type>BOOL</Type>
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<Var>
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<Name>MAIN.bEndSwitchL</Name>
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<Type>BOOL</Type>
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<Var>
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<Name>MAIN.bEndSwitchT</Name>
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<Type>BOOL</Type>
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<Var>
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<Name>MAIN.bEndSwitchB</Name>
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<Type>BOOL</Type>
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<Vars VarGrpType="2" AreaNo="1">
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<Name>PlcTask Outputs</Name>
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<Var>
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<Name>MAIN.Nc_AxisN[0].PlcToNc</Name>
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<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>MAIN.Nc_AxisN[1].PlcToNc</Name>
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<Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Contexts>
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<Context>
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<Id>0</Id>
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<Name>PlcTask</Name>
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<ManualConfig>
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<OTCID>#x02010050</OTCID>
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</ManualConfig>
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<Priority>20</Priority>
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<CycleTime>10000000</CycleTime>
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</Context>
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</Contexts>
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<InitSymbols>
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<InitSymbol>
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<Name>MAIN.bEndSwitchR</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000030}">BOOL</Type>
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<Data>00</Data>
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<Property>
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<Name>TcAddressType</Name>
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<Value>Input</Value>
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<TaskPouOid Prio="20" OTCID="#x08502001"/>
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</TaskPouOids>
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</Instance>
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</Project>
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</Plc>
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<Io>
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<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="5.67.222.118.2.1" RemoteName="Device 1 (EtherCAT)" InfoImageId="2">
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<Name>Device 1 (EtherCAT)</Name>
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<AddressInfo>
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<Ccat>
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<Address>-801112064</Address>
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<Offset>131072</Offset>
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<BusNo>3</BusNo>
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<SlotNo>0</SlotNo>
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<VendorId>5612</VendorId>
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<DeviceId>20480</DeviceId>
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<Dma>
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<Address>0</Address>
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<Offset>4096</Offset>
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<Size>256</Size>
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<BaseAddr>2</BaseAddr>
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<RxChn>0</RxChn>
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<TxChn>1</TxChn>
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</Dma>
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<Identification>
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<Value>498694182</Value>
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<Version>1</Version>
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</Ccat>
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<Name>Image</Name>
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<Box Id="1" BoxType="9099">
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<Name>Term 1 (EK1200)</Name>
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<ImageId>1000</ImageId>
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<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"/>
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<Box Id="2" BoxType="9099" BoxFlags="#x00000020">
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<Name>Term 2 (EL9227-5500)</Name>
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<ImageId>1001</ImageId>
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<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x240b3052" RevisionNo="#x0012157c" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9227-5500 Overcurrent protection 24V DC, 2Ch., max. 10A (sum), adjustable, extended functionalities" Desc="EL9227-5500" PortABoxInfo="#x01000001">
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<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
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<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
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<SyncMan>001104002400010003000000000000000400001124010000</SyncMan>
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<SyncMan>801118002000010004000000000000001800801120010000</SyncMan>
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<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
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<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
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<BootStrapData>0010f400f410f400</BootStrapData>
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<SuName>Term 2 (EL9227-5500)</SuName>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
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<Type>BIT2</Type>
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<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>UINT</Type>
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<Type>UINT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Comment><![CDATA[>= 1,5 * In]]></Comment>
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<Comment><![CDATA[>= 1,1 * In]]></Comment>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="Status__Disabled By Output" Index="#x6000" Sub="#x0c">
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<Type>BIT</Type>
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<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
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<Type>BIT</Type>
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<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
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<Type>BIT</Type>
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|
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<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
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<Type>BIT2</Type>
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<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
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|
<Type>BIT</Type>
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|
</Entry>
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<Entry Name="Status__State Digital Input" Index="#x6000" Sub="#x12">
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|
<Type>BIT</Type>
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|
</Entry>
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<Entry Name="Status__Error" Index="#x6000" Sub="#x13">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__State Reset" Index="#x6000" Sub="#x14">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__State Switch" Index="#x6000" Sub="#x15">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__">
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|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
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|
</Entry>
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|
</Pdo>
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|
<Pdo Name="OCP Inputs Channel 2" Index="#x1a02" Flags="#x0010" SyncMan="3">
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|
<ExcludePdo>#x1a03</ExcludePdo>
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|
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
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|
<Type>BIT</Type>
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|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
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|
</Entry>
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|
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
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|
<Type>BIT</Type>
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|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
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|
</Entry>
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|
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
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|
<Type>BIT</Type>
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|
</Entry>
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<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
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<Type>BIT</Type>
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|
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|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
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|
<Type>BIT</Type>
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|
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|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
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<Type>BIT2</Type>
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</Entry>
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|
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
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|
<Type>BIT</Type>
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|
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|
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
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|
<Type>BIT</Type>
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|
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|
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
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|
<Type>BIT</Type>
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|
</Entry>
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|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
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|
</Entry>
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|
<Entry Name="Load" Index="#x6010" Sub="#x21">
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|
<Type>UINT</Type>
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|
</Entry>
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|
<Entry Name="Current" Index="#x6010" Sub="#x22">
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|
<Type>UINT</Type>
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|
</Entry>
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|
<Entry Name="Voltage In" Index="#x6010" Sub="#x23">
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|
<Type>UINT</Type>
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|
</Entry>
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|
<Entry Name="Voltage Out" Index="#x6010" Sub="#x24">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Inputs Channel 2" Index="#x1a03" Flags="#x0010">
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|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Outputs Channel 1" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Control__Reset" Index="#x7000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Switch" Index="#x7000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Outputs Channel 2" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Control__Reset" Index="#x7010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Switch" Index="#x7010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="60429193"/>
|
|
<CoeProfile ProfileNo="60429193"/>
|
|
<CoeProfile ProfileNo="18355081"/>
|
|
<CoeProfile ProfileNo="18355081"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="3" BoxType="9099">
|
|
<Name>Term 3 (EK1110)</Name>
|
|
<ImageId>1002</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04562c52" RevisionNo="#x00110000" PortPhys="19" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1110 EtherCAT extension" Desc="EK1110" PortABoxInfo="#x01000002"/>
|
|
</Box>
|
|
</Box>
|
|
<Box Id="4" BoxType="9099">
|
|
<Name>Term 4 (EK1100)</Name>
|
|
<ImageId>1003</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0d00" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x044c2c52" RevisionNo="#x00120000" PortPhys="305" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1100 EtherCAT Coupler (2A E-Bus)" Desc="EK1100" PortABoxInfo="#x01000003"/>
|
|
<Box Id="5" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 5 (EL9227-5500)</Name>
|
|
<ImageId>1001</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x240b3052" RevisionNo="#x0012157c" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9227-5500 Overcurrent protection 24V DC, 2Ch., max. 10A (sum), adjustable, extended functionalities" Desc="EL9227-5500" PortABoxInfo="#x01000004">
|
|
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
|
<SyncMan>001104002400010003000000000000000400001124010000</SyncMan>
|
|
<SyncMan>801118002000010004000000000000001800801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<SuName>Term 5 (EL9227-5500)</SuName>
|
|
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<Pdo Name="OCP Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<Entry Name="Status__Enabled" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Tripped" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Short Circuit" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Overload" Index="#x6000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Hardware Protection" Index="#x6000" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overvoltage" Index="#x6000" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Undervoltage" Index="#x6000" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Current Level Warning" Index="#x6000" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Cool Down Lock" Index="#x6000" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Switch" Index="#x6000" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By DI" Index="#x6000" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Output" Index="#x6000" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Digital Input" Index="#x6000" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Reset" Index="#x6000" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Switch" Index="#x6000" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Load" Index="#x6000" Sub="#x21">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Current" Index="#x6000" Sub="#x22">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Voltage In" Index="#x6000" Sub="#x23">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Voltage Out" Index="#x6000" Sub="#x24">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Inputs Channel 1" Index="#x1a01" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<Entry Name="Status__Enabled" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Tripped" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Short Circuit" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Overload" Index="#x6000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Hardware Protection" Index="#x6000" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overvoltage" Index="#x6000" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Undervoltage" Index="#x6000" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Current Level Warning" Index="#x6000" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Cool Down Lock" Index="#x6000" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Switch" Index="#x6000" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By DI" Index="#x6000" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Output" Index="#x6000" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Device Switch" Index="#x6000" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Digital Input" Index="#x6000" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Reset" Index="#x6000" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Switch" Index="#x6000" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Inputs Channel 2" Index="#x1a02" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Load" Index="#x6010" Sub="#x21">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Current" Index="#x6010" Sub="#x22">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Voltage In" Index="#x6010" Sub="#x23">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="Voltage Out" Index="#x6010" Sub="#x24">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Inputs Channel 2" Index="#x1a03" Flags="#x0010">
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Enabled" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Tripped" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Short Circuit" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,5 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Overload" Index="#x6010" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
<Comment><![CDATA[>= 1,1 * In]]></Comment>
|
|
</Entry>
|
|
<Entry Name="Status__Hardware Protection" Index="#x6010" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overvoltage" Index="#x6010" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Undervoltage" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Current Level Warning" Index="#x6010" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Cool Down Lock" Index="#x6010" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Switch" Index="#x6010" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By DI" Index="#x6010" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Disabled By Output" Index="#x6010" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Device Switch" Index="#x6010" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Digital Input" Index="#x6010" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Reset" Index="#x6010" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__State Switch" Index="#x6010" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000B}">ARRAY [0..10] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Outputs Channel 1" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Control__Reset" Index="#x7000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Switch" Index="#x7000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="OCP Outputs Channel 2" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Control__Reset" Index="#x7010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__Switch" Index="#x7010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Control__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="60429193"/>
|
|
<CoeProfile ProfileNo="60429193"/>
|
|
<CoeProfile ProfileNo="18355081"/>
|
|
<CoeProfile ProfileNo="18355081"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="6" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 6 (EL5042)</Name>
|
|
<ImageId>1004</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x13b23052" RevisionNo="#x00100000" InfoDataAddr="true" TimeoutMailbox2="10000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5042 2Ch. BiSS-C Encoder" Desc="EL5042" PortABoxInfo="#x01000005">
|
|
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
|
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
|
<SyncMan>801114002000010004000000000000001400801120010000</SyncMan>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 2" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 1 compact" Index="#x1a02" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 2 compact" Index="#x1a03" Flags="#x0010">
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969"/>
|
|
<CoeProfile ProfileNo="33624969"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="7" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 7 (EL5042)</Name>
|
|
<ImageId>1004</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x13b23052" RevisionNo="#x00100000" InfoDataAddr="true" TimeoutMailbox2="10000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5042 2Ch. BiSS-C Encoder" Desc="EL5042" PortABoxInfo="#x01000006">
|
|
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
|
|
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
|
<SyncMan>801114002000010004000000000000001400801120010000</SyncMan>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<Pdo Name="FB Inputs Channel 1" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 2" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
|
<Type>ULINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 1 compact" Index="#x1a02" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6000" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Inputs Channel 2 compact" Index="#x1a03" Flags="#x0010">
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<Entry Name="Status__Warning" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Ready" Index="#x6010" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Diag" Index="#x6010" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6010" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input cycle counter" Index="#x6010" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Position" Index="#x6010" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969"/>
|
|
<CoeProfile ProfileNo="33624969"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="8" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 8 (EL3204)</Name>
|
|
<ImageId>1005</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="3" FoeType="1" VendorId="#x00000002" ProductCode="#x0c843052" RevisionNo="#x00110000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL3204 4Ch. Ana. Input PT100 (RTD)" Desc="EL3204" PortABoxInfo="#x01000007">
|
|
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
|
|
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
|
<SyncMan>801110002000010004000000000000001000801120010000</SyncMan>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<Pdo Name="RTD Inputs Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="3">
|
|
<Entry Name="Status__Underrange" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overrange" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 1" Index="#x6000" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 2" Index="#x6000" Sub="#x05">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6000" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x1800" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x1800" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6000" Sub="#x11" Flags="#x00050000">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="RTD Inputs Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="3">
|
|
<Entry Name="Status__Underrange" Index="#x6010" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overrange" Index="#x6010" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 1" Index="#x6010" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 2" Index="#x6010" Sub="#x05">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6010" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x1801" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x1801" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6010" Sub="#x11" Flags="#x00050000">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="RTD Inputs Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="3">
|
|
<Entry Name="Status__Underrange" Index="#x6020" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overrange" Index="#x6020" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 1" Index="#x6020" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 2" Index="#x6020" Sub="#x05">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6020" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x1802" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x1802" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6020" Sub="#x11" Flags="#x00050000">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="RTD Inputs Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="3">
|
|
<Entry Name="Status__Underrange" Index="#x6030" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Overrange" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 1" Index="#x6030" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Limit 2" Index="#x6030" Sub="#x05">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Error" Index="#x6030" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x1803" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO Toggle" Index="#x1803" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Value" Index="#x6030" Sub="#x11" Flags="#x00050000">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="20976521"/>
|
|
<CoeProfile ProfileNo="20976521"/>
|
|
<CoeProfile ProfileNo="20976521"/>
|
|
<CoeProfile ProfileNo="20976521"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="9" BoxType="9099">
|
|
<Name>Term 9 (EL2008)</Name>
|
|
<ImageId>1006</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x07d83052" RevisionNo="#x00120000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2008 8Ch. Dig. Output 24V, 0.5A" Desc="EL2008" PortABoxInfo="#x01000008">
|
|
<SyncMan>000f01004400010003000000000000000000000f44090000</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 Id="10" BoxType="9099">
|
|
<Name>Term 10 (EL1008)</Name>
|
|
<ImageId>7</ImageId>
|
|
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x03f03052" RevisionNo="#x00120000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1008 8Ch. Dig. Input 24V, 3ms" Desc="EL1008" PortABoxInfo="#x01000009">
|
|
<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 Id="11" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 11 (EL7211-9014)</Name>
|
|
<ImageId>1007</ImageId>
|
|
<Xml>
|
|
<EL72xxDriveTool>
|
|
<AxisSettings>
|
|
<AxisSetting Channel="0">
|
|
<Property>
|
|
<Name>MotorType</Name>
|
|
<Value>AM8122-0FH1-0000</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>MotorDataSchema</Name>
|
|
<Value>ScannedDataSheet</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>Feedback1Type</Name>
|
|
<Value>EDM35-2KF0A0S01</Value>
|
|
</Property>
|
|
<Parametersets>
|
|
<Parameter>
|
|
<Comment>Motor vendor</Comment>
|
|
<Name>Vendor</Name>
|
|
<Data type="visibleString">Beckhoff</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Electric motor type</Comment>
|
|
<Name>ElecType</Name>
|
|
<Data type="visibleString">AM8122-xFx1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Compatible elec motor type</Comment>
|
|
<Name>CompElecType</Name>
|
|
<Data type="visibleString">AM8122-xFx0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor Serial number</Comment>
|
|
<Name>Serial#</Name>
|
|
<Data type="visibleString">00414700</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor oder code</Comment>
|
|
<Name>OrderCode</Name>
|
|
<Data type="visibleString">AM8122-0FH1-0000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor construction</Comment>
|
|
<Name>ConstrType</Name>
|
|
<Data type="uint8">0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Pole Pairs</Comment>
|
|
<Name>PolePairs</Name>
|
|
<Data type="uint8">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Standstill Current</Comment>
|
|
<Name>I0rms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Rated Current</Comment>
|
|
<Name>Inrms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Peak Current</Comment>
|
|
<Name>Iprms</Name>
|
|
<Data type="uint16">22.4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Nominal Voltage</Comment>
|
|
<Name>Unrms</Name>
|
|
<Data type="uint16">33.9</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Voltage</Comment>
|
|
<Name>Umaxrms</Name>
|
|
<Data type="uint16">96</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max winding du/dt</Comment>
|
|
<Name>dudtMax</Name>
|
|
<Data type="uint16">8000000000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Torque</Comment>
|
|
<Name>Mpeak</Name>
|
|
<Data type="uint16">4.06</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Torque Constant</Comment>
|
|
<Name>kT</Name>
|
|
<Data type="uint16">0.200</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>M(i) curve</Comment>
|
|
<Name>M(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>2.24</item>
|
|
<item>4.48</item>
|
|
<item>6.72</item>
|
|
<item>8.96</item>
|
|
<item>11.20</item>
|
|
<item>13.44</item>
|
|
<item>15.68</item>
|
|
<item>17.92</item>
|
|
<item>20.16</item>
|
|
<item>22.40</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.435</item>
|
|
<item>0.863</item>
|
|
<item>1.285</item>
|
|
<item>1.701</item>
|
|
<item>2.110</item>
|
|
<item>2.513</item>
|
|
<item>2.910</item>
|
|
<item>3.300</item>
|
|
<item>3.683</item>
|
|
<item>4.060</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>EMK</Comment>
|
|
<Name>kErms</Name>
|
|
<Data type="uint16">0.0130</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Winding resistance Ph-Ph 20°C</Comment>
|
|
<Name>R</Name>
|
|
<Data type="uint16">1.50</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq Ph-Ph</Comment>
|
|
<Name>Lq</Name>
|
|
<Data type="uint16">0.00330</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Ld Ph-Ph</Comment>
|
|
<Name>Ld</Name>
|
|
<Data type="uint16">0.00330</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq(i) curve</Comment>
|
|
<Name>Lq(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>2.24</item>
|
|
<item>4.48</item>
|
|
<item>6.72</item>
|
|
<item>8.96</item>
|
|
<item>11.20</item>
|
|
<item>13.44</item>
|
|
<item>15.68</item>
|
|
<item>17.92</item>
|
|
<item>20.16</item>
|
|
<item>22.40</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-6" unitSiNumerator="H">
|
|
<item>0.002487</item>
|
|
<item>0.001821</item>
|
|
<item>0.001653</item>
|
|
<item>0.001423</item>
|
|
<item>0.001195</item>
|
|
<item>0.001060</item>
|
|
<item>0.000929</item>
|
|
<item>0.000860</item>
|
|
<item>0.000795</item>
|
|
<item>0.000760</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max speed</Comment>
|
|
<Name>Nmax</Name>
|
|
<Data type="uint16">10000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>J motor with brake and encoder</Comment>
|
|
<Name>J</Name>
|
|
<Data type="uint16">0.0000330</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor warn limit</Comment>
|
|
<Name>TMotorWarn</Name>
|
|
<Data type="uint16">120</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor shut down</Comment>
|
|
<Name>TMotorLimit</Name>
|
|
<Data type="uint16">140</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Time constant i2t</Comment>
|
|
<Name>Ti2t</Name>
|
|
<Data type="uint16">101</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor thermal constant</Comment>
|
|
<Name>Mtc</Name>
|
|
<Data type="uint16">13</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake type</Comment>
|
|
<Name>BrakeType</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake voltage</Comment>
|
|
<Name>UBrakeMin</Name>
|
|
<Data type="uint16">21.6</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max motor brake voltage</Comment>
|
|
<Name>UBrakeMax</Name>
|
|
<Data type="uint16">25.4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake current for brake monitoring</Comment>
|
|
<Name>IBrakeMin</Name>
|
|
<Data type="uint16">0.199</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Brake holding torque</Comment>
|
|
<Name>MBrake</Name>
|
|
<Data type="uint16">2</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T on</Comment>
|
|
<Name>TBrakeOn</Name>
|
|
<Data type="uint16">0.0250</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T off</Comment>
|
|
<Name>TBrakeOff</Name>
|
|
<Data type="uint16">0.00800</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: reduced holding current</Comment>
|
|
<Name>IBrakeRed</Name>
|
|
<Data type="uint16">0.248</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: Time to reduce holding voltage</Comment>
|
|
<Name>TBrakeRed</Name>
|
|
<Data type="uint16">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor connection</Comment>
|
|
<Name>TempSensorCon</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor R(T)</Comment>
|
|
<Name>TempSensorR(T)</Name>
|
|
<DataTable type="int16[]" unitPrefix="-1" unitSiNumerator="°C">
|
|
<item>-29.5</item>
|
|
<item>2.3</item>
|
|
<item>31.4</item>
|
|
<item>58.0</item>
|
|
<item>82.3</item>
|
|
<item>104.6</item>
|
|
<item>125.1</item>
|
|
<item>144.0</item>
|
|
<item>161.4</item>
|
|
<item>178.0</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitSiNumerator="ohm">
|
|
<item>384</item>
|
|
<item>512</item>
|
|
<item>640</item>
|
|
<item>768</item>
|
|
<item>896</item>
|
|
<item>1024</item>
|
|
<item>1152</item>
|
|
<item>1280</item>
|
|
<item>1408</item>
|
|
<item>1540</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>NnUnrms</Comment>
|
|
<Name>NnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitSiNumerator="1/min">
|
|
<item>600</item>
|
|
<item>2000</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>MnUnrms</Comment>
|
|
<Name>MnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.800</item>
|
|
<item>0.800</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Version</Comment>
|
|
<Name>Version</Name>
|
|
<Data type="uint16">1.18</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Name>MechComOffs</Name>
|
|
<Data type="uint16">0.00</Data>
|
|
</Parameter>
|
|
</Parametersets>
|
|
</AxisSetting>
|
|
</AxisSettings>
|
|
<InitCmds>
|
|
<InitCmd Index="4339" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>02</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0016</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0116</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="6" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>03</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>001a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>011a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>071a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="6" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="10" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="11" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="12" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="13" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="14" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>90d00300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>90d00300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="28688" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>09</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="28688" SubIndex="11" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ff7f</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="13" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>03000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>14</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0c</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>f401</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32769" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32769" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0500</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>8701</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="20" MotorDataLevel="1" DisableMode="0">
|
|
<Data>96000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>92000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0a000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
|
|
<Data>80bb0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="26" MotorDataLevel="0" DisableMode="0">
|
|
<Data>901a0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="27" MotorDataLevel="0" DisableMode="0">
|
|
<Data>60ea0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="41" MotorDataLevel="0" DisableMode="0">
|
|
<Data>50</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="42" MotorDataLevel="0" DisableMode="0">
|
|
<Data>69</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="43" MotorDataLevel="0" DisableMode="0">
|
|
<Data>2003</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="44" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="49" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="50" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="51" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0a00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="57" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="58" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="65" MotorDataLevel="0" DisableMode="0">
|
|
<Data>4001</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="73" MotorDataLevel="0" DisableMode="0">
|
|
<Data>70f50000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="80" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ffffffff</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="81" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="82" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="84" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="87" MotorDataLevel="0" DisableMode="0">
|
|
<Data>64</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="101" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="102" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>80570000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>a00f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>03</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0e01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="22" MotorDataLevel="1" DisableMode="0">
|
|
<Data>c8000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="24" MotorDataLevel="1" DisableMode="0">
|
|
<Data>4a010000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="25" MotorDataLevel="1" DisableMode="0">
|
|
<Data>2100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
|
|
<Data>e6080000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="41" MotorDataLevel="0" DisableMode="0">
|
|
<Data>50</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="42" MotorDataLevel="0" DisableMode="0">
|
|
<Data>69</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="43" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="44" MotorDataLevel="0" DisableMode="0">
|
|
<Data>dc05</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
|
|
<Data>f203</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0800</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>1900</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>f401</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>401f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>a00f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>2300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e02e0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>5702</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000000000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="10" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0a00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="14" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>c1166c0100000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="22" MotorDataLevel="0" DisableMode="0">
|
|
<Data>1400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>7017</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="25" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="26" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="27" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0700</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61448" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>04</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e6020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ee020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61569" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>36232000</Data>
|
|
</InitCmd>
|
|
</InitCmds>
|
|
<StatusBar>
|
|
<Element option="0" SortOder="0" SubIdx="1">
|
|
<Index>24592</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="18">
|
|
<Index>36880</Index>
|
|
<Width>105</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="17">
|
|
<Index>36888</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="17">
|
|
<Index>36880</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="3">
|
|
<Index>24592</Index>
|
|
<Width>200</Width>
|
|
</Element>
|
|
</StatusBar>
|
|
</EL72xxDriveTool>
|
|
</Xml>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000a">
|
|
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
|
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
|
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000d00000000000000000000000000000000000000000000002011801204000000a00f000052617465642063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000b00000000000000000000000000000000000000000000002011801104000000805700004d61782063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000f00000000000000000000000000000000000000000000002011801604000000c8000000546f7271756520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001200000000000000000000000000000000000000000000002011801902000000210057696e64696e6720696e64756374616e636500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c00000017000000000000000000000000000000000000000000000020118018040000004a010000526f746f72206d6f6d656e74206f6620696e657274696100</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001b00000000000000000000000000000000000000000000002011802d02000000f2034d6f746f7220746865726d616c2074696d6520636f6e7374616e7400</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000a000000110000000000000000000000000000000000000000000000201280120200000019004170706c69636174696f6e2064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001600000000000000000000000000000000000000000000002011801b04000000e60800004d6f746f72207370656564206c696d69746174696f6e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001e00000000000000000000000000000000000000000000002010801302000000870143757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108015040000009200000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Ready to switch on
|
|
Bit 1 : Switched on
|
|
Bit 2 : Operation enabled
|
|
Bit 3 : Fault
|
|
Bit 4 : reserved
|
|
Bit 5 : reserved
|
|
Bit 6 : Switch on disabled
|
|
Bit 7 : Warning
|
|
Bit 8 + 9 : reserved
|
|
Bit 10 : TxPDOToggle
|
|
Bit 11 : Internal limit active
|
|
Bit 12 : Drive follows the command value
|
|
Bit 13 : Input cycle counter
|
|
Bit 14 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
|
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
|
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
|
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
|
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
|
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
|
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
|
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a31</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a30</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Switch on
|
|
Bit 1 : Enable voltage
|
|
Bit 2 : reserved
|
|
Bit 3 : Enable operation
|
|
Bit 4 - 6 : reserved
|
|
Bit 7 : Fault reset
|
|
Bit 8 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
|
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
|
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1631</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1630</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="49157001"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="12" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 12 (EL7211-9014)</Name>
|
|
<ImageId>1007</ImageId>
|
|
<Xml>
|
|
<EL72xxDriveTool>
|
|
<AxisSettings>
|
|
<AxisSetting Channel="0">
|
|
<Property>
|
|
<Name>MotorType</Name>
|
|
<Value>AM8121-0F21-0000</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>MotorDataSchema</Name>
|
|
<Value>ScannedDataSheet</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>Feedback1Type</Name>
|
|
<Value>EKM36-0KF0A0S16</Value>
|
|
</Property>
|
|
<Parametersets>
|
|
<Parameter>
|
|
<Comment>Motor vendor</Comment>
|
|
<Name>Vendor</Name>
|
|
<Data type="visibleString">Beckhoff</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Electric motor type</Comment>
|
|
<Name>ElecType</Name>
|
|
<Data type="visibleString">AM8121-xFx1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Compatible elec motor type</Comment>
|
|
<Name>CompElecType</Name>
|
|
<Data type="visibleString">AM8121-xFx0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor Serial number</Comment>
|
|
<Name>Serial#</Name>
|
|
<Data type="visibleString">aa404k71</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor oder code</Comment>
|
|
<Name>OrderCode</Name>
|
|
<Data type="visibleString">AM8121-0F21-0000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor construction</Comment>
|
|
<Name>ConstrType</Name>
|
|
<Data type="uint8">0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Pole Pairs</Comment>
|
|
<Name>PolePairs</Name>
|
|
<Data type="uint8">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Standstill Current</Comment>
|
|
<Name>I0rms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Rated Current</Comment>
|
|
<Name>Inrms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Peak Current</Comment>
|
|
<Name>Iprms</Name>
|
|
<Data type="uint16">17</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Nominal Voltage</Comment>
|
|
<Name>Unrms</Name>
|
|
<Data type="uint16">33.9</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Voltage</Comment>
|
|
<Name>Umaxrms</Name>
|
|
<Data type="uint16">96</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max winding du/dt</Comment>
|
|
<Name>dudtMax</Name>
|
|
<Data type="uint16">8000000000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Torque</Comment>
|
|
<Name>Mpeak</Name>
|
|
<Data type="uint16">1.97</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Torque Constant</Comment>
|
|
<Name>kT</Name>
|
|
<Data type="uint16">0.125</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>M(i) curve</Comment>
|
|
<Name>M(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>1.70</item>
|
|
<item>3.40</item>
|
|
<item>5.10</item>
|
|
<item>6.80</item>
|
|
<item>8.50</item>
|
|
<item>10.20</item>
|
|
<item>11.90</item>
|
|
<item>13.60</item>
|
|
<item>15.30</item>
|
|
<item>17.00</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.211</item>
|
|
<item>0.419</item>
|
|
<item>0.623</item>
|
|
<item>0.825</item>
|
|
<item>1.024</item>
|
|
<item>1.220</item>
|
|
<item>1.412</item>
|
|
<item>1.602</item>
|
|
<item>1.789</item>
|
|
<item>1.970</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>EMK</Comment>
|
|
<Name>kErms</Name>
|
|
<Data type="uint16">0.00750</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Winding resistance Ph-Ph 20°C</Comment>
|
|
<Name>R</Name>
|
|
<Data type="uint16">1.65</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq Ph-Ph</Comment>
|
|
<Name>Lq</Name>
|
|
<Data type="uint16">0.00280</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Ld Ph-Ph</Comment>
|
|
<Name>Ld</Name>
|
|
<Data type="uint16">0.00280</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq(i) curve</Comment>
|
|
<Name>Lq(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>1.70</item>
|
|
<item>3.40</item>
|
|
<item>5.10</item>
|
|
<item>6.80</item>
|
|
<item>8.50</item>
|
|
<item>10.20</item>
|
|
<item>11.90</item>
|
|
<item>13.60</item>
|
|
<item>15.30</item>
|
|
<item>17.00</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-6" unitSiNumerator="H">
|
|
<item>0.002144</item>
|
|
<item>0.001588</item>
|
|
<item>0.001419</item>
|
|
<item>0.001238</item>
|
|
<item>0.001051</item>
|
|
<item>0.000925</item>
|
|
<item>0.000818</item>
|
|
<item>0.000747</item>
|
|
<item>0.000694</item>
|
|
<item>0.000656</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max speed</Comment>
|
|
<Name>Nmax</Name>
|
|
<Data type="uint16">10000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>J motor with brake and encoder</Comment>
|
|
<Name>J</Name>
|
|
<Data type="uint16">0.0000210</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor warn limit</Comment>
|
|
<Name>TMotorWarn</Name>
|
|
<Data type="uint16">120</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor shut down</Comment>
|
|
<Name>TMotorLimit</Name>
|
|
<Data type="uint16">140</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Time constant i2t</Comment>
|
|
<Name>Ti2t</Name>
|
|
<Data type="uint16">54.7</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor thermal constant</Comment>
|
|
<Name>Mtc</Name>
|
|
<Data type="uint16">10</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake type</Comment>
|
|
<Name>BrakeType</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake voltage</Comment>
|
|
<Name>UBrakeMin</Name>
|
|
<Data type="uint16">21.6</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max motor brake voltage</Comment>
|
|
<Name>UBrakeMax</Name>
|
|
<Data type="uint16">25.4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake current for brake monitoring</Comment>
|
|
<Name>IBrakeMin</Name>
|
|
<Data type="uint16">0.199</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Brake holding torque</Comment>
|
|
<Name>MBrake</Name>
|
|
<Data type="uint16">2</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T on</Comment>
|
|
<Name>TBrakeOn</Name>
|
|
<Data type="uint16">0.0250</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T off</Comment>
|
|
<Name>TBrakeOff</Name>
|
|
<Data type="uint16">0.00800</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: reduced holding current</Comment>
|
|
<Name>IBrakeRed</Name>
|
|
<Data type="uint16">0.248</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: Time to reduce holding voltage</Comment>
|
|
<Name>TBrakeRed</Name>
|
|
<Data type="uint16">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor connection</Comment>
|
|
<Name>TempSensorCon</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor R(T)</Comment>
|
|
<Name>TempSensorR(T)</Name>
|
|
<DataTable type="int16[]" unitPrefix="-1" unitSiNumerator="°C">
|
|
<item>-40.0</item>
|
|
<item>-15.5</item>
|
|
<item>9.0</item>
|
|
<item>33.5</item>
|
|
<item>58.0</item>
|
|
<item>82.5</item>
|
|
<item>107.0</item>
|
|
<item>131.5</item>
|
|
<item>156.0</item>
|
|
<item>181.0</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitSiNumerator="ohm">
|
|
<item>359</item>
|
|
<item>440</item>
|
|
<item>534</item>
|
|
<item>642</item>
|
|
<item>762</item>
|
|
<item>896</item>
|
|
<item>1043</item>
|
|
<item>1204</item>
|
|
<item>1377</item>
|
|
<item>1560</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>NnUnrms</Comment>
|
|
<Name>NnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="1" unitSiNumerator="1/min">
|
|
<item>1000</item>
|
|
<item>3000</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>MnUnrms</Comment>
|
|
<Name>MnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.500</item>
|
|
<item>0.500</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Version</Comment>
|
|
<Name>Version</Name>
|
|
<Data type="uint16">1.26</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Name>MechComOffs</Name>
|
|
<Data type="uint16">0.00</Data>
|
|
</Parameter>
|
|
</Parametersets>
|
|
</AxisSetting>
|
|
</AxisSettings>
|
|
<InitCmds>
|
|
<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0500</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>4c01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="20" MotorDataLevel="1" DisableMode="0">
|
|
<Data>96000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>94000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="51" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0a00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>68420000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>a00f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>03</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0e01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="22" MotorDataLevel="1" DisableMode="0">
|
|
<Data>7d000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="24" MotorDataLevel="1" DisableMode="0">
|
|
<Data>d2000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="25" MotorDataLevel="1" DisableMode="0">
|
|
<Data>1c00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
|
|
<Data>570d0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
|
|
<Data>2302</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0800</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>1900</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>f401</Data>
|
|
</InitCmd>
|
|
</InitCmds>
|
|
</EL72xxDriveTool>
|
|
</Xml>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000b">
|
|
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
|
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
|
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000d00000000000000000000000000000000000000000000002011801204000000a00f000052617465642063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000b00000000000000000000000000000000000000000000002011801104000000684200004d61782063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000f000000000000000000000000000000000000000000000020118016040000007d000000546f7271756520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118019020000001c0057696e64696e6720696e64756374616e636500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001700000000000000000000000000000000000000000000002011801804000000d2000000526f746f72206d6f6d656e74206f6620696e657274696100</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001b00000000000000000000000000000000000000000000002011802d0200000023024d6f746f7220746865726d616c2074696d6520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a000000110000000000000000000000000000000000000000000000201280120200000019004170706c69636174696f6e2064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001600000000000000000000000000000000000000000000002011801b04000000570d00004d6f746f72207370656564206c696d69746174696f6e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001e000000000000000000000000000000000000000000000020108013020000004c0143757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108015040000009400000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Ready to switch on
|
|
Bit 1 : Switched on
|
|
Bit 2 : Operation enabled
|
|
Bit 3 : Fault
|
|
Bit 4 : reserved
|
|
Bit 5 : reserved
|
|
Bit 6 : Switch on disabled
|
|
Bit 7 : Warning
|
|
Bit 8 + 9 : reserved
|
|
Bit 10 : TxPDOToggle
|
|
Bit 11 : Internal limit active
|
|
Bit 12 : Drive follows the command value
|
|
Bit 13 : Input cycle counter
|
|
Bit 14 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
|
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
|
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
|
|
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
|
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
|
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
|
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
|
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
|
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a31</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a30</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Switch on
|
|
Bit 1 : Enable voltage
|
|
Bit 2 : reserved
|
|
Bit 3 : Enable operation
|
|
Bit 4 - 6 : reserved
|
|
Bit 7 : Fault reset
|
|
Bit 8 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
|
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
|
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1631</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1630</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="49157001"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="13" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 13 (EL7211-9014)</Name>
|
|
<ImageId>1007</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000c">
|
|
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
|
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
|
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Ready to switch on
|
|
Bit 1 : Switched on
|
|
Bit 2 : Operation enabled
|
|
Bit 3 : Fault
|
|
Bit 4 : reserved
|
|
Bit 5 : reserved
|
|
Bit 6 : Switch on disabled
|
|
Bit 7 : Warning
|
|
Bit 8 + 9 : reserved
|
|
Bit 10 : TxPDOToggle
|
|
Bit 11 : Internal limit active
|
|
Bit 12 : Drive follows the command value
|
|
Bit 13 : Input cycle counter
|
|
Bit 14 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
|
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
|
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
|
|
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
|
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
|
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
|
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
|
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
|
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a31</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a30</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Switch on
|
|
Bit 1 : Enable voltage
|
|
Bit 2 : reserved
|
|
Bit 3 : Enable operation
|
|
Bit 4 - 6 : reserved
|
|
Bit 7 : Fault reset
|
|
Bit 8 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
|
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
|
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1631</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1630</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="49157001"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="14" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 14 (EL7211-9014)</Name>
|
|
<ImageId>1007</ImageId>
|
|
<Xml>
|
|
<EL72xxDriveTool>
|
|
<AxisSettings>
|
|
<AxisSetting Channel="0">
|
|
<Property>
|
|
<Name>MotorType</Name>
|
|
<Value>AM8122-0F21-0000</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>MotorDataSchema</Name>
|
|
<Value>ScannedDataSheet</Value>
|
|
</Property>
|
|
<Property>
|
|
<Name>Feedback1Type</Name>
|
|
<Value>EKM36-0KF0A0S16</Value>
|
|
</Property>
|
|
<Parametersets>
|
|
<Parameter>
|
|
<Comment>Motor vendor</Comment>
|
|
<Name>Vendor</Name>
|
|
<Data type="visibleString">Beckhoff</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Electric motor type</Comment>
|
|
<Name>ElecType</Name>
|
|
<Data type="visibleString">AM8122-xFx1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Compatible elec motor type</Comment>
|
|
<Name>CompElecType</Name>
|
|
<Data type="visibleString">AM8122-xFx0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor Serial number</Comment>
|
|
<Name>Serial#</Name>
|
|
<Data type="visibleString">00427959</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor oder code</Comment>
|
|
<Name>OrderCode</Name>
|
|
<Data type="visibleString">AM8122-0F21-0000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor construction</Comment>
|
|
<Name>ConstrType</Name>
|
|
<Data type="uint8">0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Pole Pairs</Comment>
|
|
<Name>PolePairs</Name>
|
|
<Data type="uint8">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Standstill Current</Comment>
|
|
<Name>I0rms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Rated Current</Comment>
|
|
<Name>Inrms</Name>
|
|
<Data type="uint16">4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Peak Current</Comment>
|
|
<Name>Iprms</Name>
|
|
<Data type="uint16">22.4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Nominal Voltage</Comment>
|
|
<Name>Unrms</Name>
|
|
<Data type="uint16">33.9</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Voltage</Comment>
|
|
<Name>Umaxrms</Name>
|
|
<Data type="uint16">96</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max winding du/dt</Comment>
|
|
<Name>dudtMax</Name>
|
|
<Data type="uint16">8000000000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max Torque</Comment>
|
|
<Name>Mpeak</Name>
|
|
<Data type="uint16">4.06</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Torque Constant</Comment>
|
|
<Name>kT</Name>
|
|
<Data type="uint16">0.200</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>M(i) curve</Comment>
|
|
<Name>M(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>2.24</item>
|
|
<item>4.48</item>
|
|
<item>6.72</item>
|
|
<item>8.96</item>
|
|
<item>11.20</item>
|
|
<item>13.44</item>
|
|
<item>15.68</item>
|
|
<item>17.92</item>
|
|
<item>20.16</item>
|
|
<item>22.40</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.435</item>
|
|
<item>0.863</item>
|
|
<item>1.285</item>
|
|
<item>1.701</item>
|
|
<item>2.110</item>
|
|
<item>2.513</item>
|
|
<item>2.910</item>
|
|
<item>3.300</item>
|
|
<item>3.683</item>
|
|
<item>4.060</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>EMK</Comment>
|
|
<Name>kErms</Name>
|
|
<Data type="uint16">0.0130</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Winding resistance Ph-Ph 20°C</Comment>
|
|
<Name>R</Name>
|
|
<Data type="uint16">1.50</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq Ph-Ph</Comment>
|
|
<Name>Lq</Name>
|
|
<Data type="uint16">0.00330</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Ld Ph-Ph</Comment>
|
|
<Name>Ld</Name>
|
|
<Data type="uint16">0.00330</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq(i) curve</Comment>
|
|
<Name>Lq(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-2" unitSiNumerator="A">
|
|
<item>2.24</item>
|
|
<item>4.48</item>
|
|
<item>6.72</item>
|
|
<item>8.96</item>
|
|
<item>11.20</item>
|
|
<item>13.44</item>
|
|
<item>15.68</item>
|
|
<item>17.92</item>
|
|
<item>20.16</item>
|
|
<item>22.40</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-6" unitSiNumerator="H">
|
|
<item>0.002487</item>
|
|
<item>0.001821</item>
|
|
<item>0.001653</item>
|
|
<item>0.001423</item>
|
|
<item>0.001195</item>
|
|
<item>0.001060</item>
|
|
<item>0.000929</item>
|
|
<item>0.000860</item>
|
|
<item>0.000795</item>
|
|
<item>0.000760</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max speed</Comment>
|
|
<Name>Nmax</Name>
|
|
<Data type="uint16">10000</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>J motor with brake and encoder</Comment>
|
|
<Name>J</Name>
|
|
<Data type="uint16">0.0000329</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor warn limit</Comment>
|
|
<Name>TMotorWarn</Name>
|
|
<Data type="uint16">120</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>T motor shut down</Comment>
|
|
<Name>TMotorLimit</Name>
|
|
<Data type="uint16">140</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Time constant i2t</Comment>
|
|
<Name>Ti2t</Name>
|
|
<Data type="uint16">101</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor thermal constant</Comment>
|
|
<Name>Mtc</Name>
|
|
<Data type="uint16">13</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake type</Comment>
|
|
<Name>BrakeType</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake voltage</Comment>
|
|
<Name>UBrakeMin</Name>
|
|
<Data type="uint16">21.6</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Max motor brake voltage</Comment>
|
|
<Name>UBrakeMax</Name>
|
|
<Data type="uint16">25.4</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Min motor brake current for brake monitoring</Comment>
|
|
<Name>IBrakeMin</Name>
|
|
<Data type="uint16">0.199</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Brake holding torque</Comment>
|
|
<Name>MBrake</Name>
|
|
<Data type="uint16">2</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T on</Comment>
|
|
<Name>TBrakeOn</Name>
|
|
<Data type="uint16">0.0250</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T off</Comment>
|
|
<Name>TBrakeOff</Name>
|
|
<Data type="uint16">0.00800</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: reduced holding current</Comment>
|
|
<Name>IBrakeRed</Name>
|
|
<Data type="uint16">0.248</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: Time to reduce holding voltage</Comment>
|
|
<Name>TBrakeRed</Name>
|
|
<Data type="uint16">3</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor connection</Comment>
|
|
<Name>TempSensorCon</Name>
|
|
<Data type="uint8">1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor temp sensor R(T)</Comment>
|
|
<Name>TempSensorR(T)</Name>
|
|
<DataTable type="int16[]" unitPrefix="-1" unitSiNumerator="°C">
|
|
<item>-29.5</item>
|
|
<item>2.3</item>
|
|
<item>31.4</item>
|
|
<item>58.0</item>
|
|
<item>82.3</item>
|
|
<item>104.6</item>
|
|
<item>125.1</item>
|
|
<item>144.0</item>
|
|
<item>161.4</item>
|
|
<item>178.0</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitSiNumerator="ohm">
|
|
<item>384</item>
|
|
<item>512</item>
|
|
<item>640</item>
|
|
<item>768</item>
|
|
<item>896</item>
|
|
<item>1024</item>
|
|
<item>1152</item>
|
|
<item>1280</item>
|
|
<item>1408</item>
|
|
<item>1540</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>NnUnrms</Comment>
|
|
<Name>NnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitSiNumerator="1/min">
|
|
<item>600</item>
|
|
<item>2000</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>MnUnrms</Comment>
|
|
<Name>MnUnrms</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-1" unitSiNumerator="V">
|
|
<item>17.0</item>
|
|
<item>33.9</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="Nm">
|
|
<item>0.800</item>
|
|
<item>0.800</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Version</Comment>
|
|
<Name>Version</Name>
|
|
<Data type="uint16">1.18</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Name>MechComOffs</Name>
|
|
<Data type="uint16">0.00</Data>
|
|
</Parameter>
|
|
</Parametersets>
|
|
</AxisSetting>
|
|
</AxisSettings>
|
|
<InitCmds>
|
|
<InitCmd Index="4339" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>02</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0016</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0116</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="6" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7186" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>03</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>001a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>011a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>071a</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="6" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="10" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="11" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="12" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="13" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7187" SubIndex="14" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>90d00300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7218" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>90d00300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="7219" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="28688" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>09</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="28688" SubIndex="11" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ff7f</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="13" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>03000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>14</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0c</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>f401</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32768" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32769" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32769" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0200</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32776" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0500</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>8701</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="20" MotorDataLevel="1" DisableMode="0">
|
|
<Data>96000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>91000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0a000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
|
|
<Data>80bb0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="26" MotorDataLevel="0" DisableMode="0">
|
|
<Data>901a0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="27" MotorDataLevel="0" DisableMode="0">
|
|
<Data>60ea0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="41" MotorDataLevel="0" DisableMode="0">
|
|
<Data>50</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="42" MotorDataLevel="0" DisableMode="0">
|
|
<Data>69</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="43" MotorDataLevel="0" DisableMode="0">
|
|
<Data>2003</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="44" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="49" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="50" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="51" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0a00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="57" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="58" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="65" MotorDataLevel="0" DisableMode="0">
|
|
<Data>4001</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="73" MotorDataLevel="0" DisableMode="0">
|
|
<Data>70f50000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="80" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ffffffff</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="81" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="82" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="84" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="87" MotorDataLevel="0" DisableMode="0">
|
|
<Data>64</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="101" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32784" SubIndex="102" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>80570000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>a00f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>03</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="21" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0e01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="22" MotorDataLevel="1" DisableMode="0">
|
|
<Data>c8000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="24" MotorDataLevel="1" DisableMode="0">
|
|
<Data>49010000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="25" MotorDataLevel="1" DisableMode="0">
|
|
<Data>2100</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
|
|
<Data>e6080000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="41" MotorDataLevel="0" DisableMode="0">
|
|
<Data>50</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="42" MotorDataLevel="0" DisableMode="0">
|
|
<Data>69</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="43" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e803</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="44" MotorDataLevel="0" DisableMode="0">
|
|
<Data>dc05</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
|
|
<Data>f203</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="17" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0800</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>1900</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="19" MotorDataLevel="1" DisableMode="0">
|
|
<Data>f401</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32786" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="17" MotorDataLevel="0" DisableMode="0">
|
|
<Data>401f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>a00f0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>2300</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e02e0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32799" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>5702</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="7" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="8" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000000000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="9" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="10" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0a00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="14" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="18" MotorDataLevel="0" DisableMode="0">
|
|
<Data>6400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000000001000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="21" MotorDataLevel="0" DisableMode="0">
|
|
<Data>c1166c0100000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="22" MotorDataLevel="0" DisableMode="0">
|
|
<Data>1400</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32816" SubIndex="23" MotorDataLevel="0" DisableMode="0">
|
|
<Data>7017</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="19" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="20" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="25" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="26" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32817" SubIndex="27" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0700</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="45057" SubIndex="5" MotorDataLevel="0" DisableMode="0">
|
|
<Data>0000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61448" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="0" MotorDataLevel="0" DisableMode="0">
|
|
<Data>04</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>01020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="2" MotorDataLevel="0" DisableMode="0">
|
|
<Data>e6020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="3" MotorDataLevel="0" DisableMode="0">
|
|
<Data>00000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61456" SubIndex="4" MotorDataLevel="0" DisableMode="0">
|
|
<Data>ee020000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="61569" SubIndex="1" MotorDataLevel="0" DisableMode="0">
|
|
<Data>36232000</Data>
|
|
</InitCmd>
|
|
</InitCmds>
|
|
<StatusBar>
|
|
<Element option="0" SortOder="0" SubIdx="1">
|
|
<Index>24592</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="18">
|
|
<Index>36880</Index>
|
|
<Width>105</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="17">
|
|
<Index>36888</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="17">
|
|
<Index>36880</Index>
|
|
<Width>100</Width>
|
|
</Element>
|
|
<Element option="0" SortOder="0" SubIdx="3">
|
|
<Index>24592</Index>
|
|
<Width>200</Width>
|
|
</Element>
|
|
</StatusBar>
|
|
</EL72xxDriveTool>
|
|
</Xml>
|
|
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000d">
|
|
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
|
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
|
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000d00000000000000000000000000000000000000000000002011801204000000a00f000052617465642063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000b00000000000000000000000000000000000000000000002011801104000000805700004d61782063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000f00000000000000000000000000000000000000000000002011801604000000c8000000546f7271756520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001200000000000000000000000000000000000000000000002011801902000000210057696e64696e6720696e64756374616e636500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c000000170000000000000000000000000000000000000000000000201180180400000049010000526f746f72206d6f6d656e74206f6620696e657274696100</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001b00000000000000000000000000000000000000000000002011802d02000000f2034d6f746f7220746865726d616c2074696d6520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a000000110000000000000000000000000000000000000000000000201280120200000019004170706c69636174696f6e2064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001600000000000000000000000000000000000000000000002011801b04000000e60800004d6f746f72207370656564206c696d69746174696f6e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001e00000000000000000000000000000000000000000000002010801302000000870143757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108015040000009100000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Position" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Statusword" Index="#x6010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Ready to switch on
|
|
Bit 1 : Switched on
|
|
Bit 2 : Operation enabled
|
|
Bit 3 : Fault
|
|
Bit 4 : reserved
|
|
Bit 5 : reserved
|
|
Bit 6 : Switch on disabled
|
|
Bit 7 : Warning
|
|
Bit 8 + 9 : reserved
|
|
Bit 10 : TxPDOToggle
|
|
Bit 11 : Internal limit active
|
|
Bit 12 : Drive follows the command value
|
|
Bit 13 : Input cycle counter
|
|
Bit 14 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Velocity actual value" Index="#x6010" Sub="#x07">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
|
<Entry Name="Torque actual value" Index="#x6010" Sub="#x08">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Info data 2" Index="#x6010" Sub="#x13">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Following error actual value" Index="#x1a06" Flags="#x0010">
|
|
<Entry Name="Following error actual value" Index="#x6010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Neg value stored" Index="#x6001" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Pos value stored" Index="#x6001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Neg value stored" Index="#x6001" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10" Flags="#x00008020">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 pos position" Index="#x1a08" Flags="#x0010">
|
|
<Entry Name="TP1 Pos position" Index="#x6001" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010">
|
|
<Entry Name="TP1 Neg position" Index="#x6001" Sub="#x12">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 pos position" Index="#x1a0a" Flags="#x0010">
|
|
<Entry Name="TP2 Pos position" Index="#x6001" Sub="#x13">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 2 neg position" Index="#x1a0b" Flags="#x0010">
|
|
<Entry Name="TP2 Neg position" Index="#x6001" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
|
<Entry Name="Status__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input Cycle Counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation display" Index="#x1a0e" Flags="#x0010">
|
|
<Entry Name="Modes of operation display" Index="#x6010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs" Index="#x1a30" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a31</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Inputs 32 Bit" Index="#x1a31" Flags="#x0010">
|
|
<ExcludePdo>#x1a00</ExcludePdo>
|
|
<ExcludePdo>#x1a01</ExcludePdo>
|
|
<ExcludePdo>#x1a02</ExcludePdo>
|
|
<ExcludePdo>#x1a03</ExcludePdo>
|
|
<ExcludePdo>#x1a04</ExcludePdo>
|
|
<ExcludePdo>#x1a05</ExcludePdo>
|
|
<ExcludePdo>#x1a06</ExcludePdo>
|
|
<ExcludePdo>#x1a07</ExcludePdo>
|
|
<ExcludePdo>#x1a08</ExcludePdo>
|
|
<ExcludePdo>#x1a09</ExcludePdo>
|
|
<ExcludePdo>#x1a0a</ExcludePdo>
|
|
<ExcludePdo>#x1a0b</ExcludePdo>
|
|
<ExcludePdo>#x1a0c</ExcludePdo>
|
|
<ExcludePdo>#x1a0e</ExcludePdo>
|
|
<ExcludePdo>#x1a30</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" Index="#x6030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" Index="#x6030" Sub="#x34">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" Index="#x6030" Sub="#x36">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" Index="#x6030" Sub="#x3a">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000040}">ARRAY [0..7] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Controlword" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Controlword" Index="#x7010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
<Comment><![CDATA[Bit 0 : Switch on
|
|
Bit 1 : Enable voltage
|
|
Bit 2 : reserved
|
|
Bit 3 : Enable operation
|
|
Bit 4 - 6 : reserved
|
|
Bit 7 : Fault reset
|
|
Bit 8 - 15 : reserved]]></Comment>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Target velocity" Index="#x7010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target torque" Index="#x7010" Sub="#x09">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<Entry Name="Commutation angle" Index="#x7010" Sub="#x0e">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque limitation" Index="#x7010" Sub="#x0b">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque offset" Index="#x7010" Sub="#x0a">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target position" Index="#x7010" Sub="#x05">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe control" Index="#x1607" InOut="1" Flags="#x0010">
|
|
<Entry Name="Touch probe function__TP1 Enable" Index="#x7001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Continous" Index="#x7001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Trigger mode" Index="#x7001" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable pos edge" Index="#x7001" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable neg edge" Index="#x7001" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable" Index="#x7001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Continous" Index="#x7001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Trigger mode" Index="#x7001" Sub="#x0b">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable pos edge" Index="#x7001" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable neg edge" Index="#x7001" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Modes of operation" Index="#x1608" InOut="1" Flags="#x0010">
|
|
<Entry Name="Modes of operation" Index="#x7010" Sub="#x03">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs" Index="#x1630" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1631</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DMC Outputs 32 Bit" Index="#x1631" InOut="1" Flags="#x0010">
|
|
<ExcludePdo>#x1600</ExcludePdo>
|
|
<ExcludePdo>#x1601</ExcludePdo>
|
|
<ExcludePdo>#x1602</ExcludePdo>
|
|
<ExcludePdo>#x1603</ExcludePdo>
|
|
<ExcludePdo>#x1604</ExcludePdo>
|
|
<ExcludePdo>#x1605</ExcludePdo>
|
|
<ExcludePdo>#x1606</ExcludePdo>
|
|
<ExcludePdo>#x1607</ExcludePdo>
|
|
<ExcludePdo>#x1608</ExcludePdo>
|
|
<ExcludePdo>#x1630</ExcludePdo>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" Index="#x7030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" Index="#x7030" Sub="#x32">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000050}">ARRAY [0..9] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="33624969" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="48632713" DisplayName="Servo interface"/>
|
|
<CoeProfile ProfileNo="49157001"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="15" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 15 (EL9576)</Name>
|
|
<ImageId>1008</ImageId>
|
|
<EtherCAT SlaveType="2" PdiType="#x0005" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x25683052" RevisionNo="#x00160000" InfoDataAddr="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9576 Brake chopper terminal" Desc="EL9576" PortABoxInfo="#x0100000e">
|
|
<SyncMan>001080002600010001000000800080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000800080008000801022010000</SyncMan>
|
|
<SyncMan>001100000400000003000000000000000000001104000000</SyncMan>
|
|
<SyncMan>80110b002000010004000000000000000b00801120010000</SyncMan>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000160000</MBoxUserCmdData>
|
|
<Pdo Name="BCT Inputs" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Terminal Overtemperature" Index="#x6000" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="I2T error" Index="#x6000" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="I2T warning" Index="#x6000" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Overvoltage" Index="#x6000" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Undervoltage" Index="#x6000" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Chopper on" Index="#x6000" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Overcurrent Protection" Index="#x6000" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Input cycle counter" Index="#x6000" Sub="#x0f">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="DC link voltage" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Resistor Current" Index="#x6000" Sub="#x13">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="Duty Cycle" Index="#x6000" Sub="#x14">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="BCT Load" Index="#x1a01" Flags="#x0010">
|
|
<Entry Name="I2T load factor" Index="#x6001" Sub="#x01">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<CoeProfile ProfileNo="58987401"/>
|
|
</EtherCAT>
|
|
</Box>
|
|
<Box Id="16" BoxType="9099">
|
|
<Name>Term 16 (EL9011)</Name>
|
|
<ImageId>1009</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="#x0100000f"/>
|
|
</Box>
|
|
</Box>
|
|
<EtherCAT DcSyncMode="3"/>
|
|
</Device>
|
|
</Io>
|
|
</Project>
|
|
<Mappings>
|
|
<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
|
|
<MappingInfo Identifier="{00000000-0020-0304-3000-040321000403}" Id="#x02030020"/>
|
|
<MappingInfo Identifier="{08502001-0010-0304-0020-500810000403}" Id="#x02030040" Watchdog="00000000000000000000000000000000"/>
|
|
<MappingInfo Identifier="{05000010-2001-0850-3000-040300205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
|
|
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 11 (EL7211-9014)">
|
|
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 6 (EL5042)">
|
|
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState"/>
|
|
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 1^Position"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Diag" Size="1" OffsA="12"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Error" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Input cycle counter" Size="2" OffsA="14"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Ready" Size="1" OffsA="2"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^TxPDO State" Size="1" OffsA="13"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 1^Status^Warning"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 12 (EL7211-9014)">
|
|
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
|
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
|
|
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 3">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 13 (EL7211-9014)">
|
|
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
|
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
|
|
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 4">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 14 (EL7211-9014)">
|
|
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
|
|
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword"/>
|
|
<Link VarA="Drive^Inputs^In^nState2" VarB="DRV Statusword^Statusword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword"/>
|
|
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
|
|
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 7 (EL5042)">
|
|
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState"/>
|
|
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
|
|
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
<OwnerA Name="TIPC^Untitled1^Untitled1 Instance">
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 11 (EL7211-9014)">
|
|
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchL" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
|
|
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchR" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 14 (EL7211-9014)">
|
|
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchB" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
|
|
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchT" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
|
|
<Link VarA="PlcTask Inputs^MAIN.Nc_AxisN[0].NcToPlc" VarB="Outputs^ToPlc"/>
|
|
<Link VarA="PlcTask Outputs^MAIN.Nc_AxisN[0].PlcToNc" VarB="Inputs^FromPlc"/>
|
|
</OwnerB>
|
|
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 4">
|
|
<Link VarA="PlcTask Inputs^MAIN.Nc_AxisN[1].NcToPlc" VarB="Outputs^ToPlc"/>
|
|
<Link VarA="PlcTask Outputs^MAIN.Nc_AxisN[1].PlcToNc" VarB="Inputs^FromPlc"/>
|
|
</OwnerB>
|
|
</OwnerA>
|
|
</Mappings>
|
|
</TcSmProject>
|