ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Tue Oct 30 00:22:29 2012 +0100
@@ -0,0 +1,3098 @@
+<?xml version="1.0" encoding="utf-8"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>#x00000625</Id>
+ <Name>HIGEN Motor Co., Ltd.</Name>
+ <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="520">
+ <Type>Drive</Type>
+ <Name LcId="1033">Drives</Name>
+ <Image16x14>DRIVE</Image16x14>
+ </Group>
+ </Groups>
+ <Devices>
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000002">EDA7000 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7000 CoE Servo Drive]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false" />
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>208</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Name>2 mapping data</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
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+ </Flags>
+ </SubItem>
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+ <SubIdx>3</SubIdx>
+ <Name>3 mapping data</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A00</Name>
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+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>2</SubIdx>
+ <Name>2 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5 mapping data</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </DataType>
+ <DataType>
+ <Name>DT1A02</Name>
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+ <Name>largest sub-index supported</Name>
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+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>1 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubIdx>3</SubIdx>
+ <Name>3 mapping data</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <SubIdx>4</SubIdx>
+ <Name>4 mapping data</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubIdx>5</SubIdx>
+ <Name>5 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>6 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8 mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubIdx>9</SubIdx>
+ <Name>9 mapping data</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>368</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Cycle time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Shift time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sync modes supported</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Minimum cycle time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Calc and copy time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Get cycle time</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Sync0 time</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>12</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
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+ <Name>DT607D</Name>
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+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Minimum Software position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum Software position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Name>Speed during search for switch</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Type>UDINT</Type>
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+ <Flags>
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+ <Category>o</Category>
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+ <SubIdx>1</SubIdx>
+ <Name>Physical output</Name>
+ <Type>UDINT</Type>
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+ <Flags>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Invalid Frame Counter</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Rx Error Counter</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Lost Link Counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter Reset</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x2027</Index>
+ <Name>Ripple COMPEN</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>92010200</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1001</Index>
+ <Name>Error register</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
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+ <Index>#x1018</Index>
+ <Name>Identity object</Name>
+ <Type>DT1018</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ <!-- 4 -> 2 -->
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Vendor ID</Name>
+ <Info>
+ <DefaultData>00000625</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Product code</Name>
+ <Info>
+ <DefaultData>69686555</DefaultData>
+ <!-- EDA7 ascii code -->
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>m</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1600</Index>
+ <Name>1st receive PDO mapping</Name>
+ <Type>DT1600</Type>
+ <BitSize>208</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
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+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60F4</Index>
+ <Name>Following Error Actual Value</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FD</Index>
+ <Name>Digital Inputs</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FF</Index>
+ <Name>Target Velocity</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>000003A0</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x20A2</Index>
+ <Name>Communication Error Counter</Name>
+ <Type>DT20A2</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Invalid Frame Counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Rx Error Counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Lost Link Counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Counter Reset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm="2">Outputs</Fmmu>
+ <Fmmu Sm="3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Sm="2" Fixed="1">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index>
+ <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index>
+ <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index>
+ <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>Receive PDO mapping</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index>
+ <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60E0</Index>
+ <!--Positive Torque Limit Value-->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Positive Torque Limit Value</Name>
+ <Comment>object 0x60E0:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60E1</Index>
+ <!--Negative Torque Limit Value-->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Negative Torque Limit Value</Name>
+ <Comment>object 0x60E1:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>Receive PDO mapping</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x6040</Index>
+ <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index>
+ <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index>
+ <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60B8</Index>
+ <!--Touch Probe Function-->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch Probe Function</Name>
+ <Comment>object 0x60B8:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index>
+ <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </RxPdo>
+ <TxPdo Sm="3" Fixed="1">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Exclude>#x1A01</Exclude>
+ <Exclude>#x1A02</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1A01</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Exclude>#x1A00</Exclude>
+ <Exclude>#x1A02</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606C</Index>
+ <!-- Actual Velocity-->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name> Actual Velocity</Name>
+ <Comment>object 0x606C:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index>
+ <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1A02</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Exclude>#x1A00</Exclude>
+ <Exclude>#x1A01</Exclude>
+ <Entry>
+ <Index>#x6041</Index>
+ <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index>
+ <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x606C</Index>
+ <!-- Actual Velocity-->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name> Actual Velocity</Name>
+ <Comment>object 0x606C:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60B9</Index>
+ <!--Touch Probe Status-->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Touch Probe Status</Name>
+ <Comment>object 0x60B9:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60BA</Index>
+ <!--Touch Probe Pos1 Pos Value-->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch Probe Pos1 Pos Value</Name>
+ <Comment>object 0x60BA:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60BB</Index>
+ <!--Touch Probe Pos1 Neg Value-->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Touch Probe Pos1 Neg Value</Name>
+ <Comment>object 0x60BB:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FD</Index>
+ <!--Digital Inputs-->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Digital Inputs</Name>
+ <Comment>object 0x60FD:0</Comment>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index>
+ <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>SINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <!--Padding-->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false">
+ <InitCmd>
+ <Transition>PS</Transition>
+ <Index>#x2025</Index>
+ <SubIndex>0</SubIndex>
+ <Data>0004</Data>
+ <Comment>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Comment>
+ </InitCmd>
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron by Sync0</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>