--- a/etherlab/EthercatCIA402Slave.py Wed Apr 24 23:27:35 2013 +0200
+++ b/etherlab/EthercatCIA402Slave.py Thu Apr 25 23:01:06 2013 +0200
@@ -11,11 +11,14 @@
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
+ ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
+ ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
("StatusWord", 0x6041, 0x00, "UINT", "I"),
("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
("ActualPosition", 0x6064, 0x00, "DINT", "I"),
- ("ActualVelocity", 0x606C, 0x00, "DINT", "I"),
+ ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
+ ("ActualTorque", 0x6077, 0x00, "INT", "I"),
]
DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"