diff -r 000000000000 -r c2295d311402 etherlab/EtherCATConfig.xsd --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATConfig.xsd Sun Dec 18 19:42:13 2011 +0100 @@ -0,0 +1,1122 @@ + + + + + + + + + + + Description of the master + + + + + + General information abaout the master + + + + + + name of the master + + + + + destination MAC address + + + + + source MAC address + + + + + Ether type. + + + + + + + + If this tag exists the master checks the mailbox of one or more slaves for new messages during the cylcic process data communication. + + + + + + Start address of the logical address area, that is configured to the written bit of the input mailibox sync manager. In the cyclic frame the master will then include a LRD command with laddr = StartAddr. + + + + + Number of slave devices of which the state of the mailbox is tested by the master. + + + + + + + + Ethernet over EtherCAT settings + + + + + + + + + + + + Initialization commands that are directed at all slaves. + + + + + + + + + + + + + Description of one or more EtherCAT slave devices. + + + + + + General information about the EtherCAT slave device + + + + + + Name of the slave device. + + + + + Slave device has EtherCAT Slave Controller + + + + Fixed EtherCAT address of the slave device. + + + + + Auto Increment address of the slave device. + + + + + Physics at the individual ports(A,B,C,D) of the slave. + + + + + + EtherCAT VendorId. VendorId, ProductCode and RevisionNo are used to identify a specific slave. + + + + + + + + User friendly name generated from ProductCode and RevisionNo with the help of a vendor specific algorithmn + + + + + + + + Description of the process data of this slave + + + + + + Description of the output process data + + + + + + Start address of the process data of this slave in the output image of the master + + + + + Length of the send process data + + + + + + + + Description of the input process data + + + + + + Start address of the process data of this slave in the inpute image of the master + + + + + Length of the recv process data + + + + + + + + Settings of sync manager 0 + + + + + Settings of sync manager 1 + + + + + Settings of sync manager 2 + + + + + Settings of sync manager 3 + + + + + + Ouput Pdos + + + + + Input Pdos + + + + + + + + + Mailbox settings + + + + + + Output mailbox settings + + + + + Input mailbox settings + + + + + + + + Output mailbox settings for bootstrap state + + + + + Input mailbox settings for bootstrap state + + + + + + + + Supported protocols + + + + + + + + + + + + + + + + + + + + + SDO download cmds + + + + + + init cmd will be send at the defined transitions + + + + + + Timeout in ms + + + + + + SDO index + + + + + SDO subindex + + + + + SDO data + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + service channel write req + + + + + + init cmd will be send at the defined transitions + + + + + + + + + + + + + + + Timeout in ms + + + + + Op Code + + + + + Drive number + + + + + IDN to write + + + + + + + data to write + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Initialization commands that are necessary for the slave device to run-up. + + + + + + + + + + Possible previous port. The current previous port is set with the Selected attribute + + + + + + deprecated + + + + + Port of the previous slave device this device is connected to + + + + + + + + + + + + Fixed EtherCAT Address of slave device + + + + + + + + + + + + + + + + + Distributed clock settings + + + + + + Determines if this device is the reference clock + + + + + + + + + + + + + + Cycles in which frames are sent + + + + + + + Cycle time of the task sending the frames + + + + + Priority of the task sending the frames + + + + + Id of the task sending the frames + + + + + Frames to be sent in this cycle + + + + + + + EtherCAT sub command + + + + + + Master state the command should be sent in. If the command should not be sent in the current master state one can either remove this command form the frame or set Cmd to Nop. + + + + + + + + + + + + + + + + + Adress position. Either Auto Increment Address or fixed EtherCAT Address + + + + + Offset in DPRAM of the EtherCAT Slave Controller + + + + + + Logical Address + + + + + + + Data that should sent + + + + + Length of the data that should be sent. The data is then filled with 0. + + + + + + Expected working counter. + + + + + Offset in the input image + + + + + Offset in the output image + + + + + Copy information for slave to slave communication. The master has to copy valid input data of this command from the source offest (bit offs in the complete process image) to a destination offset. + + + + + + + + + + + + + + Description of the process image of the master + + + + + + Input process image of the master + + + + + + Size of the input image + + + + + Input variables + + + + + + + + Output process image of the master + + + + + + Size of the output image + + + + + Output variables + + + + + + + + + + + + + + + Schema version (actual 1.3) + + + + + + + + + Transition this command should be sent in + + + + + If BeforeSlave is true this command will be sent before the slave init commands defined for this transition + + + + + + If Requires is set to cycle, this command has to be sent in a seperate cycle. If Requires is set to cycle, this command has to be sent in a seperate frame. + + + + + + + + + + + EtherCAT Command Id + + + + + + + Adress position. Either Auto Increment Address or fixed EtherCAT Address + + + + + Offset in DPRAM of the EtherCAT Slave Controller + + + + + + Logical Address + + + + + + + Data that should sent + + + + + Length of the data that should be sent. The data is then filled with 0. + + + + + + Expected working counter. If the returned working counter is not equal to this value the init command fails. + + + + + Defines how many times the master should retry sending the command before the init command fails. + + + + + If validate is set the returned data has to be validated by the master. + + + + + + Binary data with which the returned data has to be compared with. + + + + + If a data mask is set, the returned data and the data mask is combined with an AND operatore, before comparing the data. + + + + + Timeout in ms. Determis how long the master retries to read out the date, if the validation has failed. + + + + + + + + + + + + Type of Sync Manager (e.g. Outputs) + + + + + + + + + + + + + + + + + + + + Watchdog setting of the sync manager + + + + + Pdo indices + + + + + + + + + + + + + + + + + + + + + + + + + + The index of the PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + The index of the PDO will be adapted depend on the slot group number and the SlotGroupPdoIncrement value in the Slots-part of the device description + + + + + + + + + + List of pdo indicies that are excluded if this pdo is in sync manager + + + + + + + The index of the Exclude PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + The index of the Exclude-PDO will be adapted depend on the slot group number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + + + + + + + + + + + + + + + pdo is not configurable + + + + + pdo must be configured in a sync manager + + + + + pdo will be configured internally (based on the configured variables) + + + + + default sync manager for this pdo (if set, this PDO will be include in the process image) + + + + + default sync unit for this pdo + + + + + + default oversampling factor + + + + + min. oversampling factor + + + + + max. oversampling factor + + + + + oversampling increment for entry indicies + + + + + If this attribute is True, the PDO shall not be considered if the configurator supports the modular device description because this PDO will be defined via the module definition (only for configurators supporting V1.3). + + + + + + + + + + + + The index will be adapted depend on the slot number and the SlotIndexIncrement value in the Slots-part of the device description + + + + + The index will be adapted depend on the slot group number and the SlotGroupIndexIncrement value in the Slots-part of the device description + + + + + + + + + Default value = 0 + + + + + + Name is mandatory if Index != 0 + + + + + + DataType is mandatory if Index != 0 + + + + + + + + + + + + + + + + + + 1 = swap hi and lo bytes; 2 = swap hi and lo words; 3 = swap both + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Name of the variable + + + + + + Datatype of the variable + + + + + Size of the variable in bits + + + + + Bit offset of the variable in the image + + + + + + + + + + + + + + + + + + + + + If this attribute is True, the object shall not be considered if the configurator supports the modular device description because this object will be defined via the module definition (only for configurators supporting V1.3). + + + + + + + + + + + + + + + + + init cmd will be send at the defined transitions + + + + + + Timeout in ms + + + + + data of the mailbox cmd (excl. the mailbox) + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +