1976 lines
89 KiB
XML
1976 lines
89 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="{18071995-0000-0000-0000-00200000000B}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..10] OF BIT</Name>
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<BitSize>11</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>11</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
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<BitSize>14</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>14</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
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<BitSize>4</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>4</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
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<BitSize>13</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>13</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
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<BitSize>1</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>1</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
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<BitSize>9</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>9</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
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<BitSize>3</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>3</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
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<BitSize>5</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>5</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
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<BitSize>8</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>1</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000040}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..7] OF BYTE</Name>
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<BitSize>64</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>8</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000020}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BYTE</Name>
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<BitSize>32</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>4</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
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<BitSize>2</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>2</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
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<BitSize>12</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>12</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000050}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..9] OF BYTE</Name>
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<BitSize>80</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>10</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</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 Name="ArrayView" Preview="[%u, %u]">
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<Printf>[%u, %u]</Printf>
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<Parameter>[0]</Parameter>
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<Parameter>[1]</Parameter>
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</Format>
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<Format Name="MixedView" Preview="%x [%u, %u]">
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<Printf>0x%08x [%u, %u]</Printf>
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<Parameter>.</Parameter>
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<Parameter>[0]</Parameter>
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<Parameter>[1]</Parameter>
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</Format>
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<Format Name="32bitView" Preview="%x (%u)">
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<Printf>0x%08x (%u)</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="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO" TcBaseType="true">ECAT_HEAD</Name>
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<BitSize>80</BitSize>
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<SubItem>
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<Name>cmd</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>idx</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>8</BitOffs>
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</SubItem>
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<SubItem>
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<Name>addr</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
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<BitSize>32</BitSize>
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<BitOffs>16</BitOffs>
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</SubItem>
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<SubItem>
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<Name>len</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>48</BitOffs>
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</SubItem>
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<SubItem>
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<Name>irq</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>64</BitOffs>
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</SubItem>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-001300000100}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..255] OF BYTE</Name>
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<BitSize>2048</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>256</Elements>
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</ArrayInfo>
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</DataType>
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</DataTypes>
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<ImageDatas>
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<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
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<ImageData Id="1001">424dd6020000000000003600000028000000100000000e0000000100180000000000a002000000000000000000000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ff000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ffff00ffff00ff000000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff000000ff00ffff00ff007fff007fff000000000000000000000000000000000000000000000000000000000000000000000000ff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
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<ImageData Id="1002">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData>
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<ImageData Id="1003">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff</ImageData>
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</ImageDatas>
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<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.67.222.118.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
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<System>
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<Settings MaxCpus="2">
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<Cpu CpuId="1" BaseTime="2500"/>
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<IoIdleTask Priority="6"/>
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</Settings>
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<Tasks>
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<Task Id="4" Priority="10" CycleTime="100000" AmsPort="351" AdtTasks="true">
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<Name>PlcTask</Name>
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</Task>
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</Tasks>
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<Modules>
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<AddClassFactory>Beckhoff Automation GmbH|TcBodePlot|1.1.5.0</AddClassFactory>
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<AddClassFactory>Beckhoff Automation GmbH|TcNcObjects|3.1.0.4707</AddClassFactory>
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</Modules>
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</System>
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<Motion>
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<NC File="NC.xti"/>
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</Motion>
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<Plc>
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<Project File="tc_project_app.xti"/>
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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="3">
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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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<Size>8192</Size>
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<BaseAddr>0</BaseAddr>
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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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<Size>256</Size>
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</Identification>
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</Ccat>
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</AddressInfo>
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<Image Id="2" AddrType="9" ImageType="3">
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<Name>Image</Name>
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</Image>
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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>
|
|
<SyncMan>801118002000010004000000000000001800801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<SuName>Term 2 (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="3" BoxType="9099" BoxFlags="#x00000020">
|
|
<Name>Term 3 (EL7211-9014)</Name>
|
|
<ImageId>1002</ImageId>
|
|
<Xml>
|
|
<EL72xxDriveTool>
|
|
<AxisSettings>
|
|
<AxisSetting Channel="0">
|
|
<Property>
|
|
<Name>MotorType</Name>
|
|
<Value>AM8111-0FH1-0000</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">AM8111-xFx1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Compatible elec motor type</Comment>
|
|
<Name>CompElecType</Name>
|
|
<Data type="visibleString">AM8111-xFx0</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor Serial number</Comment>
|
|
<Name>Serial#</Name>
|
|
<Data type="visibleString">00462930</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor oder code</Comment>
|
|
<Name>OrderCode</Name>
|
|
<Data type="visibleString">AM8111-0FH1-0000</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">2.85</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Rated Current</Comment>
|
|
<Name>Inrms</Name>
|
|
<Data type="uint16">2.71</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Peak Current</Comment>
|
|
<Name>Iprms</Name>
|
|
<Data type="uint16">8.60</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">0.681</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Torque Constant</Comment>
|
|
<Name>kT</Name>
|
|
<Data type="uint16">0.0702</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>M(i) curve</Comment>
|
|
<Name>M(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="A">
|
|
<item>0.860</item>
|
|
<item>1.720</item>
|
|
<item>2.580</item>
|
|
<item>3.440</item>
|
|
<item>4.300</item>
|
|
<item>5.160</item>
|
|
<item>6.020</item>
|
|
<item>6.880</item>
|
|
<item>7.740</item>
|
|
<item>8.600</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-4" unitSiNumerator="Nm">
|
|
<item>0.0784</item>
|
|
<item>0.1545</item>
|
|
<item>0.2283</item>
|
|
<item>0.2999</item>
|
|
<item>0.3691</item>
|
|
<item>0.4361</item>
|
|
<item>0.5008</item>
|
|
<item>0.5632</item>
|
|
<item>0.6233</item>
|
|
<item>0.6810</item>
|
|
</DataTable>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>EMK</Comment>
|
|
<Name>kErms</Name>
|
|
<Data type="uint16">0.00510</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Winding resistance Ph-Ph 20°C</Comment>
|
|
<Name>R</Name>
|
|
<Data type="uint16">2.55</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq Ph-Ph</Comment>
|
|
<Name>Lq</Name>
|
|
<Data type="uint16">0.00150</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Ld Ph-Ph</Comment>
|
|
<Name>Ld</Name>
|
|
<Data type="uint16">0.00150</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Lq(i) curve</Comment>
|
|
<Name>Lq(i)</Name>
|
|
<DataTable type="uint16[]" unitPrefix="-3" unitSiNumerator="A">
|
|
<item>0.860</item>
|
|
<item>1.720</item>
|
|
<item>2.580</item>
|
|
<item>3.440</item>
|
|
<item>4.300</item>
|
|
<item>5.160</item>
|
|
<item>6.020</item>
|
|
<item>6.880</item>
|
|
<item>7.740</item>
|
|
<item>8.600</item>
|
|
</DataTable>
|
|
<DataTable type="uint16[]" unitPrefix="-5" unitSiNumerator="H">
|
|
<item>0.00111</item>
|
|
<item>0.00106</item>
|
|
<item>0.00105</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</item>
|
|
<item>0.00103</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">0.00000571</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">34.1</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor thermal constant</Comment>
|
|
<Name>Mtc</Name>
|
|
<Data type="uint16">9</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">0.181</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Brake holding torque</Comment>
|
|
<Name>MBrake</Name>
|
|
<Data type="uint16">0.600</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: T on</Comment>
|
|
<Name>TBrakeOn</Name>
|
|
<Data type="uint16">0.0140</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">0.225</Data>
|
|
</Parameter>
|
|
<Parameter>
|
|
<Comment>Motor brake: Time to reduce holding voltage</Comment>
|
|
<Name>TBrakeRed</Name>
|
|
<Data type="uint16">3</Data>
|
|
</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>1700</item>
|
|
<item>4000</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>0.200</item>
|
|
<item>0.190</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>04</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>091a</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="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="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>b200</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>48000000</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>00000000</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>98210000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="18" MotorDataLevel="1" DisableMode="0">
|
|
<Data>960a0000</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>46000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="24" MotorDataLevel="1" DisableMode="0">
|
|
<Data>39000000</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="25" MotorDataLevel="1" DisableMode="0">
|
|
<Data>0f00</Data>
|
|
</InitCmd>
|
|
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
|
|
<Data>ff120000</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>5501</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>0e00</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>36231f00</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="#x001f2336" 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="#x01000002">
|
|
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
|
|
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
|
|
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
|
|
<SyncMan>80110c002000010004000000000000000a00801120010000</SyncMan>
|
|
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
|
|
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
|
|
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
|
|
<BootStrapData>0010f400f410f400</BootStrapData>
|
|
<DcData>000700000000000030750000e80300000100ffff000000000000000000000000</DcData>
|
|
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
|
|
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f0010400000036231f0000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
|
|
<MBoxUserCmdData>02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000d00000000000000000000000000000000000000000000002011801204000000960a000052617465642063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000b00000000000000000000000000000000000000000000002011801104000000982100004d61782063757272656e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000000f0000000000000000000000000000000000000000000000201180160400000046000000546f7271756520636f6e7374616e7400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118019020000000f0057696e64696e6720696e64756374616e636500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c000000170000000000000000000000000000000000000000000000201180180400000039000000526f746f72206d6f6d656e74206f6620696e657274696100</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000a0000001b00000000000000000000000000000000000000000000002011802d0200000055014d6f746f7220746865726d616c2074696d6520636f6e7374616e7400</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000a00000011000000000000000000000000000000000000000000000020128012020000000e004170706c69636174696f6e2064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001600000000000000000000000000000000000000000000002011801b04000000ff1200004d6f746f72207370656564206c696d69746174696f6e00</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000a0000001e00000000000000000000000000000000000000000000002010801302000000b20043757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<MBoxUserCmdData>020003000c0000001f000000000000000000000000000000000000000000000020108015040000004800000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
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|
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
|
|
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Position" BitLen="32" Index="#x6000" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Statusword" Index="#x1a01" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Statusword" BitLen="16" Index="#x6010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Velocity actual value" Index="#x1a02" Flags="#x0010">
|
|
<Entry Name="Velocity actual value" BitLen="32" Index="#x6010" Sub="#x07">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque actual value" Index="#x1a03" Flags="#x0010">
|
|
<Entry Name="Torque actual value" BitLen="16" Index="#x6010" Sub="#x08">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 1" Index="#x1a04" Flags="#x0010">
|
|
<Entry Name="Info data 1" BitLen="16" Index="#x6010" Sub="#x12">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Info data 2" Index="#x1a05" Flags="#x0010">
|
|
<Entry Name="Info data 2" BitLen="16" 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" BitLen="32" 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" BitLen="1" Index="#x6001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Pos value stored" BitLen="1" Index="#x6001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Neg value stored" BitLen="1" Index="#x6001" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__" BitLen="4">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP1 Input" BitLen="1" Index="#x6001" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Enable" BitLen="1" Index="#x6001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Pos value stored" BitLen="1" Index="#x6001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Neg value stored" BitLen="1" Index="#x6001" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__" BitLen="4">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe status__TP2 Input" BitLen="1" 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" BitLen="32" Index="#x6001" Sub="#x11">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Touch probe 1 neg position" Index="#x1a09" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="TP1 Neg position" BitLen="32" 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" BitLen="32" 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" BitLen="32" Index="#x6001" Sub="#x14">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="FB Status" Index="#x1a0c" Flags="#x0010">
|
|
<Entry Name="Status__" BitLen="13">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__TxPDO State" BitLen="1" Index="#x6000" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Status__Input Cycle Counter" BitLen="2" 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" BitLen="8" 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__" BitLen="1">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" BitLen="1" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" BitLen="1" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__" BitLen="9">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" BitLen="1" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__" BitLen="3">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" BitLen="1" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" BitLen="1" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" BitLen="1" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" BitLen="1" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" BitLen="1" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" BitLen="1" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__" BitLen="5">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" BitLen="1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" BitLen="1" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__" BitLen="3">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" BitLen="1" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" BitLen="1" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" BitLen="1" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" BitLen="1" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" BitLen="1" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" BitLen="1" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" BitLen="1" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" BitLen="1" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__" BitLen="8">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" BitLen="64" Index="#x6030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" BitLen="16" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" BitLen="32" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" BitLen="64" Index="#x6030" Sub="#x34">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" BitLen="16" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" BitLen="64" Index="#x6030" Sub="#x36">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" BitLen="32" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" BitLen="8" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="8">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" BitLen="64" Index="#x6030" Sub="#x3a">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" BitLen="16" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" BitLen="16" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="64">
|
|
<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__" BitLen="1">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Latch extern valid" BitLen="1" Index="#x6030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Set counter done" BitLen="1" Index="#x6030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__" BitLen="9">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__Status of extern latch" BitLen="1" Index="#x6030" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackStatus__" BitLen="3">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready to enable" BitLen="1" Index="#x6030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Ready" BitLen="1" Index="#x6030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Warning" BitLen="1" Index="#x6030" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Error" BitLen="1" Index="#x6030" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving positive" BitLen="1" Index="#x6030" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Moving negative" BitLen="1" Index="#x6030" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__" BitLen="5">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000005}">ARRAY [0..4] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 1" BitLen="1" Index="#x6030" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__Digital input 2" BitLen="1" Index="#x6030" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveStatus__" BitLen="3">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Busy" BitLen="1" Index="#x6030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__In-Target" BitLen="1" Index="#x6030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Warning" BitLen="1" Index="#x6030" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Error" BitLen="1" Index="#x6030" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Calibrated" BitLen="1" Index="#x6030" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Accelerate" BitLen="1" Index="#x6030" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Decelerate" BitLen="1" Index="#x6030" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__Ready to execute" BitLen="1" Index="#x6030" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningStatus__" BitLen="8">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set position" BitLen="32" Index="#x6030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set velocity" BitLen="16" Index="#x6030" Sub="#x32">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual drive time" BitLen="32" Index="#x6030" Sub="#x33">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position lag" BitLen="32" Index="#x6030" Sub="#x34">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual velocity" BitLen="16" Index="#x6030" Sub="#x35">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Actual position" BitLen="32" Index="#x6030" Sub="#x36">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Error id" BitLen="32" Index="#x6030" Sub="#x37">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Input cycle counter" BitLen="8" Index="#x6030" Sub="#x38">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="8">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Latch value" BitLen="32" Index="#x6030" Sub="#x3a">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 1" BitLen="16" Index="#x6030" Sub="#x3b">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Cyclic info data 2" BitLen="16" Index="#x6030" Sub="#x3c">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="64">
|
|
<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" BitLen="16" Index="#x7010" Sub="#x01">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target velocity" Index="#x1601" InOut="1" Flags="#x0010" SyncMan="2">
|
|
<Entry Name="Target velocity" BitLen="32" Index="#x7010" Sub="#x06">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target torque" Index="#x1602" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target torque" BitLen="16" Index="#x7010" Sub="#x09">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Commutation angle" Index="#x1603" InOut="1" Flags="#x0010">
|
|
<Entry Name="Commutation angle" BitLen="16" Index="#x7010" Sub="#x0e">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque limitation" Index="#x1604" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque limitation" BitLen="16" Index="#x7010" Sub="#x0b">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Torque offset" Index="#x1605" InOut="1" Flags="#x0010">
|
|
<Entry Name="Torque offset" BitLen="16" Index="#x7010" Sub="#x0a">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="DRV Target position" Index="#x1606" InOut="1" Flags="#x0010">
|
|
<Entry Name="Target position" BitLen="32" 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" BitLen="1" Index="#x7001" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Continous" BitLen="1" Index="#x7001" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Trigger mode" BitLen="2" Index="#x7001" Sub="#x03">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable pos edge" BitLen="1" Index="#x7001" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP1 Enable neg edge" BitLen="1" Index="#x7001" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__" BitLen="2">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable" BitLen="1" Index="#x7001" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Continous" BitLen="1" Index="#x7001" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Trigger mode" BitLen="2" Index="#x7001" Sub="#x0b">
|
|
<Type>BIT2</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable pos edge" BitLen="1" Index="#x7001" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__TP2 Enable neg edge" BitLen="1" Index="#x7001" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Touch probe function__" BitLen="2">
|
|
<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" BitLen="8" 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__" BitLen="1">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" BitLen="1" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" BitLen="1" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" BitLen="1" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__" BitLen="12">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" BitLen="1" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" BitLen="1" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__" BitLen="14">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" BitLen="1" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" BitLen="1" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__" BitLen="14">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" BitLen="64" Index="#x7030" Sub="#x31">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" BitLen="64" Index="#x7030" Sub="#x32">
|
|
<Type>LINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" BitLen="16" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" BitLen="16" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" BitLen="16" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" BitLen="16" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="80">
|
|
<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__" BitLen="1">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on positive edge" BitLen="1" Index="#x7030" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Set counter" BitLen="1" Index="#x7030" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__Enable latch extern on negative edge" BitLen="1" Index="#x7030" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__FeedbackControl__" BitLen="12">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Enable" BitLen="1" Index="#x7030" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__Reset" BitLen="1" Index="#x7030" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__DriveControl__" BitLen="14">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Execute" BitLen="1" Index="#x7030" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__Emergency stop" BitLen="1" Index="#x7030" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__PositioningControl__" BitLen="14">
|
|
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Set counter value" BitLen="32" Index="#x7030" Sub="#x31">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target position" BitLen="32" Index="#x7030" Sub="#x32">
|
|
<Type>DINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="32">
|
|
<Type GUID="{18071995-0000-0000-0000-002000000020}">ARRAY [0..3] OF BYTE</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target velocity" BitLen="16" Index="#x7030" Sub="#x33">
|
|
<Type>INT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Start type" BitLen="16" Index="#x7030" Sub="#x34">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target acceleration" BitLen="16" Index="#x7030" Sub="#x35">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__Target deceleration" BitLen="16" Index="#x7030" Sub="#x36">
|
|
<Type>UINT</Type>
|
|
</Entry>
|
|
<Entry Name="DMC__" BitLen="80">
|
|
<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="4" BoxType="9099">
|
|
<Name>Term 4 (EL9011)</Name>
|
|
<ImageId>1003</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="#x01000003"/>
|
|
</Box>
|
|
</Box>
|
|
<EtherCAT DcSyncMode="3">
|
|
<EtherCATCmd Id="1" CmdType="1" CmdData="0c0100002009000100000000030000000f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000">
|
|
<Name>Dyn Container</Name>
|
|
<ImageId>102</ImageId>
|
|
<Vars VarGrpType="1">
|
|
<Name>Inputs</Name>
|
|
<Var>
|
|
<Name>HEAD</Name>
|
|
<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
|
|
<BitOffs>968</BitOffs>
|
|
</Var>
|
|
<Var>
|
|
<Name>DATA</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
|
|
<BitOffs>1048</BitOffs>
|
|
</Var>
|
|
<Var>
|
|
<Name>CNT</Name>
|
|
<Comment><![CDATA[Working counter
|
|
After receiving]]></Comment>
|
|
<Type>UINT</Type>
|
|
<BitOffs>3096</BitOffs>
|
|
</Var>
|
|
</Vars>
|
|
<Vars VarGrpType="2">
|
|
<Name>Outputs</Name>
|
|
<Var>
|
|
<Name>HEAD</Name>
|
|
<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
|
|
<BitOffs>968</BitOffs>
|
|
</Var>
|
|
<Var>
|
|
<Name>DATA</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
|
|
<BitOffs>1048</BitOffs>
|
|
</Var>
|
|
<Var>
|
|
<Name>CNT</Name>
|
|
<Comment><![CDATA[Working counter
|
|
Before sending]]></Comment>
|
|
<Type>UINT</Type>
|
|
<BitOffs>3096</BitOffs>
|
|
</Var>
|
|
</Vars>
|
|
</EtherCATCmd>
|
|
</EtherCAT>
|
|
</Device>
|
|
</Io>
|
|
</Project>
|
|
<Mappings>
|
|
<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
|
|
<MappingInfo Identifier="{00000000-0030-0304-1000-040331000403}" Id="#x02030020"/>
|
|
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
|
|
</Mappings>
|
|
</TcSmProject>
|