Change link of encoder for axis 1 and 2 to hardware terminals
This commit is contained in:
Paul Barron
@@ -3898,6 +3898,33 @@ External Setpoint Generation:
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<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
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<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030020" Watchdog="04000000080000000400000004000000"/>
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<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5101)">
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<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
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<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
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<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 8 (EL7037)">
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<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
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<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
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@@ -3918,6 +3945,10 @@ External Setpoint Generation:
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<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
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<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
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<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
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</OwnerB>
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</OwnerA>
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<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 5 (EL5101)">
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<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
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<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
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@@ -3925,12 +3956,16 @@ External Setpoint Generation:
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
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@@ -3940,8 +3975,6 @@ External Setpoint Generation:
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
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<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
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</OwnerB>
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</OwnerA>
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<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 9 (EL7037)">
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<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
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<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
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@@ -3962,27 +3995,6 @@ External Setpoint Generation:
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<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
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<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
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<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
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<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
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<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
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<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
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<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
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<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
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<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
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</OwnerB>
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</OwnerA>
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<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
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