beremiz: etherlab/plc_cia402node.c@71fdfd4a12a3 (annotated)

2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	1	/*
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	2	* Ethercat CIA402 node execution code
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	3	*
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	4	* */
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	5
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	6	#include "ecrt.h"
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	7
2122 03cf08190ac4 Fixed header files inclusion in CIA402 node template file Laurent Bessard parents: 2118 diff changeset	8	#include "beremiz.h"
03cf08190ac4 Fixed header files inclusion in CIA402 node template file Laurent Bessard parents: 2118 diff changeset	9	#include "iec_types_all.h"
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	10
2094 72b74099b873 Fix bug in support for Etherlab specific fieldbus interface function blocks Laurent Bessard parents: 2092 diff changeset	11	#include "accessor.h"
2092 c9776ae8b5d0 Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks Laurent Bessard parents: 2091 diff changeset	12	#include "POUS.h"
c9776ae8b5d0 Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks Laurent Bessard parents: 2091 diff changeset	13
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	14	IEC_INT beremiz__IW%(location)s_0;
ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	15	IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0;
ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	16
ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	17	%(MCL_headers)s
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	18
2059 b74955d211c7 fixed multiple cia402 instance symbol collision Edouard Tisserant parents: 2045 diff changeset	19	static IEC_UINT __InactiveMask = 0x4f;
b74955d211c7 fixed multiple cia402 instance symbol collision Edouard Tisserant parents: 2045 diff changeset	20	static IEC_UINT __ActiveMask = 0x6f;
b74955d211c7 fixed multiple cia402 instance symbol collision Edouard Tisserant parents: 2045 diff changeset	21	static IEC_UINT __PowerMask = 0x10;
b74955d211c7 fixed multiple cia402 instance symbol collision Edouard Tisserant parents: 2045 diff changeset	22	static IEC_BOOL __FirstTick = 1;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	23
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	24	typedef enum {
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	25	__Unknown,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	26	__NotReadyToSwitchOn,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	27	__SwitchOnDisabled,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	28	__ReadyToSwitchOn,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	29	__SwitchedOn,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	30	__OperationEnabled,
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	31	__QuickStopActive,
2077 14dfb786c53e Fix bug when modifying slave position Laurent Bessard parents: 2070 diff changeset	32	__FaultReactionActive,
14dfb786c53e Fix bug when modifying slave position Laurent Bessard parents: 2070 diff changeset	33	__Fault,
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	34	} __CIA402NodeState;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	35
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	36	typedef struct {
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	37	%(entry_variables)s
2077 14dfb786c53e Fix bug when modifying slave position Laurent Bessard parents: 2070 diff changeset	38	__CIA402NodeState state;
14dfb786c53e Fix bug when modifying slave position Laurent Bessard parents: 2070 diff changeset	39	axis_s* axis;
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	40	} __CIA402Node;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	41
2136 71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	42	#define AXIS_UNIT_TO_USER_UNIT(param, type, name)\
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	43	(IEC_##type)(param) * __CIA402Node_%(location)s.axis->name##RatioDenominator / __CIA402Node_%(location)s.axis->name##RatioNumerator
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	44	#define USER_UNIT_TO_AXIS_UNIT(param, type, name)\
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	45	(IEC_##type)(param * __CIA402Node_%(location)s.axis->name##RatioNumerator / __CIA402Node_%(location)s.axis->name##RatioDenominator)
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	46
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	47	#define DEFAULT_AXIS_UNIT_TO_USER_UNIT(param) AXIS_UNIT_TO_USER_UNIT(param, LREAL,)
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	48	#define DEFAULT_USER_UNIT_TO_AXIS_UNIT(param) USER_UNIT_TO_AXIS_UNIT(param, DINT,)
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	49	#define TORQUE_AXIS_UNIT_TO_USER_UNIT(param) AXIS_UNIT_TO_USER_UNIT(param, LREAL, Torque)
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	50	#define TORQUE_USER_UNIT_TO_AXIS_UNIT(param) USER_UNIT_TO_AXIS_UNIT(param, INT, Torque)
2091 d964dbc2c7b0 Adding support for extracting ActualVelocity from CIA402 nodes PDOs Laurent Bessard parents: 2088 diff changeset	51
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	52	static __CIA402Node __CIA402Node_%(location)s;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	53
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	54	%(extern_located_variables_declaration)s
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	55
2092 c9776ae8b5d0 Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks Laurent Bessard parents: 2091 diff changeset	56	%(fieldbus_interface_declaration)s
c9776ae8b5d0 Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks Laurent Bessard parents: 2091 diff changeset	57
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	58	int __init_%(location)s()
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	59	{
2118 c317b1aaf920 Fixed bug when using real axis and simulated axis at the same time (got the same index) Laurent Bessard parents: 2104 diff changeset	60	__FirstTick = 1;
2041 ce3727171207 Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook laurent parents: 2036 diff changeset	61	%(init_entry_variables)s
2079 49242019a9ca Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration Laurent Bessard parents: 2077 diff changeset	62	*(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
49242019a9ca Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration Laurent Bessard parents: 2077 diff changeset	63	return 0;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	64	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	65
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	66	void __cleanup_%(location)s()
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	67	{
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	68	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	69
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	70	void __retrieve_%(location)s()
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	71	{
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	72	IEC_UINT statusword_inactive = *(__CIA402Node_%(location)s.StatusWord) & __InactiveMask;
27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	73	IEC_UINT statusword_active = *(__CIA402Node_%(location)s.StatusWord) & __ActiveMask;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	74
2041 ce3727171207 Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook laurent parents: 2036 diff changeset	75	if (__FirstTick) {
2118 c317b1aaf920 Fixed bug when using real axis and simulated axis at the same time (got the same index) Laurent Bessard parents: 2104 diff changeset	76	*__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
c317b1aaf920 Fixed bug when using real axis and simulated axis at the same time (got the same index) Laurent Bessard parents: 2104 diff changeset	77	__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
c317b1aaf920 Fixed bug when using real axis and simulated axis at the same time (got the same index) Laurent Bessard parents: 2104 diff changeset	78	__CIA402Node_%(location)s.axis->NetworkPosition = %(slave_pos)d;
2041 ce3727171207 Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook laurent parents: 2036 diff changeset	79	%(init_axis_params)s
2118 c317b1aaf920 Fixed bug when using real axis and simulated axis at the same time (got the same index) Laurent Bessard parents: 2104 diff changeset	80	%(fieldbus_interface_definition)s
2045 62e102935f3e Adding test project using higen drive laurent parents: 2043 diff changeset	81	__FirstTick = 0;
2041 ce3727171207 Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook laurent parents: 2036 diff changeset	82	}
ce3727171207 Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook laurent parents: 2036 diff changeset	83
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	84	// CIA402 node state computation
27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	85	__CIA402Node_%(location)s.state = __Unknown;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	86	switch (statusword_inactive) {
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	87	case 0x00:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	88	__CIA402Node_%(location)s.state = __NotReadyToSwitchOn;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	89	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	90	case 0x40:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	91	__CIA402Node_%(location)s.state = __SwitchOnDisabled;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	92	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	93	case 0x0f:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	94	__CIA402Node_%(location)s.state = __FaultReactionActive;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	95	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	96	case 0x08:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	97	__CIA402Node_%(location)s.state = __Fault;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	98	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	99	default:
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	100	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	101	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	102	switch (statusword_active) {
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	103	case 0x21:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	104	__CIA402Node_%(location)s.state = __ReadyToSwitchOn;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	105	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	106	case 0x23:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	107	__CIA402Node_%(location)s.state = __SwitchedOn;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	108	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	109	case 0x27:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	110	__CIA402Node_%(location)s.state = __OperationEnabled;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	111	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	112	case 0x07:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	113	__CIA402Node_%(location)s.state = __QuickStopActive;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	114	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	115	default:
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	116	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	117	}
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	118	if (__CIA402Node_%(location)s.state == __Unknown) {
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	119	return;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	120	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	121
2084 579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	122	// Default variables retrieve
2096 c9b0340ea0f5 Added support for MC_DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code Laurent Bessard* parents: 2094 diff changeset	123	__CIA402Node_%(location)s.axis->CommunicationReady = *(__CIA402Node_%(location)s.StatusWord) != 0;
c9b0340ea0f5 Added support for MC_DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code Laurent Bessard* parents: 2094 diff changeset	124	__CIA402Node_%(location)s.axis->ReadyForPowerOn = __CIA402Node_%(location)s.state == __SwitchedOn \|\| __OperationEnabled;
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	125	__CIA402Node_%(location)s.axis->PowerFeedback = __CIA402Node_%(location)s.state == __OperationEnabled;
2136 71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	126	__CIA402Node_%(location)s.axis->ActualPosition = DEFAULT_AXIS_UNIT_TO_USER_UNIT(*(__CIA402Node_%(location)s.ActualPosition));
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	127	__CIA402Node_%(location)s.axis->ActualVelocity = DEFAULT_AXIS_UNIT_TO_USER_UNIT(*(__CIA402Node_%(location)s.ActualVelocity));
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	128	__CIA402Node_%(location)s.axis->ActualTorque = TORQUE_AXIS_UNIT_TO_USER_UNIT(*(__CIA402Node_%(location)s.ActualTorque));
2084 579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	129
579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	130	// Extra variables retrieve
579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	131	%(extra_variables_retrieve)s
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	132	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	133
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	134	void __publish_%(location)s()
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	135	{
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	136	IEC_BOOL power = ((*(__CIA402Node_%(location)s.StatusWord) & __PowerMask) > 0) && __CIA402Node_%(location)s.axis->Power;
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	137
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	138	// CIA402 node state transition computation
27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	139	switch (__CIA402Node_%(location)s.state) {
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	140	case __SwitchOnDisabled:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	141	(__CIA402Node_%(location)s.ControlWord) = ((__CIA402Node_%(location)s.ControlWord) & ~0x87) \| 0x06;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	142	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	143	case __ReadyToSwitchOn:
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	144	case __OperationEnabled:
ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	145	if (!power) {
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	146	(__CIA402Node_%(location)s.ControlWord) = ((__CIA402Node_%(location)s.ControlWord) & ~0x8f) \| 0x07;
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	147	break;
ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	148	}
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	149	case __SwitchedOn:
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	150	if (power) {
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	151	(__CIA402Node_%(location)s.ControlWord) = ((__CIA402Node_%(location)s.ControlWord) & ~0x8f) \| 0x0f;
2034 ae8fecf082a1 Adding support for MCL laurent parents: 2032 diff changeset	152	}
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	153	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	154	case __Fault:
2043 27d4cb689a79 Adding plugin icons and replacing reference to DS402 by CIA402 laurent parents: 2041 diff changeset	155	(__CIA402Node_%(location)s.ControlWord) = ((__CIA402Node_%(location)s.ControlWord) & ~0x8f) \| 0x80;
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	156	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	157	default:
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	158	break;
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	159	}
766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	160
2136 71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	161	// CIA402 node modes of operation computation according to axis motion mode
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	162	switch (__CIA402Node_%(location)s.axis->AxisMotionMode) {
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	163	case mc_mode_cst:
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	164	*(__CIA402Node_%(location)s.ModesOfOperation) = 0x0a;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	165	break;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	166	case mc_mode_csv:
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	167	*(__CIA402Node_%(location)s.ModesOfOperation) = 0x09;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	168	break;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	169	default:
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	170	*(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	171	break;
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	172	}
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	173
2084 579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	174	// Default variables publish
2136 71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	175	*(__CIA402Node_%(location)s.TargetPosition) = DEFAULT_USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->PositionSetPoint);
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	176	*(__CIA402Node_%(location)s.TargetVelocity) = DEFAULT_USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->VelocitySetPoint);
71fdfd4a12a3 Added support for using CIA402 motion mode csp, csv and cst Laurent Bessard parents: 2128 diff changeset	177	*(__CIA402Node_%(location)s.TargetTorque) = TORQUE_USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->TorqueSetPoint);
2084 579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	178
579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	179	// Extra variables publish
579af800b359 Adding support to enable CIA402 slave digital inputs Laurent Bessard parents: 2082 diff changeset	180	%(extra_variables_publish)s
2032 766078d83e22 Adding support for DS402 node subplugin (only simple state transition implemented) laurent parents: diff changeset	181	}

author	Laurent Bessard
	Thu, 25 Apr 2013 23:01:06 +0200
changeset 2136	71fdfd4a12a3
parent 2128	c053f90229bc
child 2150	08514552944f
permissions	-rw-r--r--