9 from ConfigEditor import CIA402NodeEditor |
9 from ConfigEditor import CIA402NodeEditor |
10 |
10 |
11 NODE_VARIABLES = [ |
11 NODE_VARIABLES = [ |
12 ("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
12 ("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
13 ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
13 ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
|
14 ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), |
|
15 ("TargetTorque", 0x6071, 0x00, "INT", "Q"), |
14 ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), |
16 ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), |
15 ("StatusWord", 0x6041, 0x00, "UINT", "I"), |
17 ("StatusWord", 0x6041, 0x00, "UINT", "I"), |
16 ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), |
18 ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), |
17 ("ActualPosition", 0x6064, 0x00, "DINT", "I"), |
19 ("ActualPosition", 0x6064, 0x00, "DINT", "I"), |
18 ("ActualVelocity", 0x606C, 0x00, "DINT", "I"), |
20 ("ActualVelocity", 0x606c, 0x00, "DINT", "I"), |
|
21 ("ActualTorque", 0x6077, 0x00, "INT", "I"), |
19 ] |
22 ] |
20 |
23 |
21 DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);" |
24 DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);" |
22 DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;" |
25 DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;" |
23 |
26 |