From b7ae38ad86d85fd6062639646df3b935bcdde9bc Mon Sep 17 00:00:00 2001
From: Paul Barron <paul.barron@esss.se>
Date: Mon, 9 Dec 2019 14:16:51 +0100
Subject: [PATCH] Change link of encoder for axis 1 and 2 to hardware terminals

---
 solution/solution.tsproj | 58 ++++++++++++++++++++++++----------------
 1 file changed, 35 insertions(+), 23 deletions(-)

diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index dd61ed2..c90b569 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -3898,6 +3898,33 @@ External Setpoint Generation:
 		<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
 		<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030020" Watchdog="04000000080000000400000004000000"/>
 		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5101)">
+				<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
+				<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
+				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
+				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
+				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
+			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 8 (EL7037)">
 				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
 				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
@@ -3918,6 +3945,10 @@ External Setpoint Generation:
 				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
 				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
 				<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
+			</OwnerB>
+		</OwnerA>
+		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 5 (EL5101)">
 				<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
 				<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
 				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
@@ -3925,12 +3956,16 @@ External Setpoint Generation:
 				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
 				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
 				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
 				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
+				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
 				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
 				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
 				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
@@ -3940,8 +3975,6 @@ External Setpoint Generation:
 				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
 				<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
 			</OwnerB>
-		</OwnerA>
-		<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 9 (EL7037)">
 				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
 				<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
@@ -3962,27 +3995,6 @@ External Setpoint Generation:
 				<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
 				<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
 				<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
-				<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
-				<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
-				<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
-				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
-				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
-				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
-				<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
-				<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
 			</OwnerB>
 		</OwnerA>
 		<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">