3 import wx |
3 import wx |
4 |
4 |
5 from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY |
5 from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY |
6 |
6 |
7 from MotionLibrary import Headers, AxisXSD |
7 from MotionLibrary import Headers, AxisXSD |
8 from EthercatSlave import _EthercatSlaveCTN |
8 from EthercatSlave import _EthercatSlaveCTN, _CommonSlave |
9 from ConfigEditor import CIA402NodeEditor |
9 from ConfigEditor import CIA402NodeEditor |
|
10 |
|
11 #------------------------------------------ |
|
12 #from CommonSlave import _CommonSlave |
|
13 #------------------------------------------ |
10 |
14 |
11 NODE_VARIABLES = [ |
15 NODE_VARIABLES = [ |
12 ("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
16 ("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
13 ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
17 ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
14 ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), |
18 ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), |
101 "name" : _("Axis Ref"), |
105 "name" : _("Axis Ref"), |
102 "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), |
106 "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), |
103 "method" : "_getCIA402AxisRef", |
107 "method" : "_getCIA402AxisRef", |
104 "push": True}, |
108 "push": True}, |
105 ] |
109 ] |
|
110 |
|
111 #-------------------------------------------------- |
|
112 # class code |
|
113 #-------------------------------------------------- |
|
114 |
|
115 def __init__(self): |
|
116 # ----------- call ethercat mng. function -------------- |
|
117 self.CommonMethod = _CommonSlave(self) |
106 |
118 |
107 def GetIconName(self): |
119 def GetIconName(self): |
108 return "CIA402Slave" |
120 return "CIA402Slave" |
109 |
121 |
110 def SetParamsAttribute(self, path, value): |
122 def SetParamsAttribute(self, path, value): |
266 cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') |
278 cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') |
267 cia402nodefile.write(plc_cia402node_code % str_completion) |
279 cia402nodefile.write(plc_cia402node_code % str_completion) |
268 cia402nodefile.close() |
280 cia402nodefile.close() |
269 |
281 |
270 return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True |
282 return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True |
|
283 |