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ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/baseplugin.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,2 @@ + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,60 @@ + + + + + + + 00 + 00 + + + + + EK1100 + 0 + 0 + + 2 + 72100946 + 65536 + 0 + + + + + EL1088 + 1 + 0 + + 2 + 71315538 + 1048576 + 0 + + + + + EL2088 + 2 + 0 + + 2 + 136851538 + 1048576 + 0 + + + + + EDA7001 CoE Drive + 3 + 1 + + 1573 + 1768449365 + 1 + 0 + + + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseplugin.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,2 @@ + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseplugin.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,2 @@ + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/plugin.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/plugin.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,2 @@ + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseplugin.xml --- /dev/null Thu 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Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Status__Ramp active + BOOL + + + #x0 + 2 + Status__ + + + #x6010 + 5 + 1 + Status__Status of input target + BOOL + + + #x6010 + 6 + 1 + Status__Status of input zero + BOOL + + + #x6010 + 7 + 1 + Status__Error + BOOL + + + #x0 + 6 + Status__ + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__ + + + #x1801 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1802 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1805 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0024 + EL2521-0024 1Ch. Pulse Train 24V DC Output + EL2521-0024 1K. Pulse Train 24V DC Ausgang + + + + + 280 + + + + 100 + 2000 + + + + DigOut + + + 5001 + 252 + + + 5001 + 253 + + + 5001 + 511 + + + + + BIT2 + 0 + + + BOOL + 1 + + + BYTE + 8 + + + UDINT + 32 + + + UINT + 16 + + + USINT + 8 + + + ARRAY [0..5] OF BYTE + BYTE + 48 + + 0 + 6 + + + + ARRAY [0..9] OF BYTE + BYTE + 80 + + 0 + 10 + + + + STRING(2) + 16 + + + STRING(6) + 48 + + + DT0800EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0801EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT0802EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0803EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT1011ARR + UDINT + 32 + + 1 + 1 + + + + DT1011 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1011ARR + 32 + 16 + + rw + o + + + + + DT1018 + 144 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + 3 + Revision + UDINT + 32 + 80 + + ro + o + + + + 4 + Serial number + UDINT + 32 + 112 + + ro + o + + + + + DT10F0 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Checksum + UDINT + 32 + 16 + + ro + o + + + + + DT1400 + 96 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude RxPDOs + ARRAY [0..9] OF BYTE + 80 + 16 + + ro + o + + + + + DT1600 + 80 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + + DT1601 + 208 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + + DT1602 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + + DT1604 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + + DT1800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + + DT1801 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + 9 + TxPDO-Toggle + BOOL + 1 + 64 + + ro + o + T + + + + + DT1A01 + 336 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + 7 + SubIndex 007 + UDINT + 32 + 208 + + ro + o + + + + 8 + SubIndex 008 + UDINT + 32 + 240 + + ro + o + + + + 9 + SubIndex 009 + UDINT + 32 + 272 + + ro + o + + + + 10 + SubIndex 010 + UDINT + 32 + 304 + + ro + o + + + + + DT1C00ARR + USINT + 32 + + 1 + 4 + + + + DT1C00 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1C00ARR + 32 + 16 + + ro + o + + + + + DT1C12ARR + UINT + 48 + + 1 + 3 + + + + DT1C12 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C12ARR + 48 + 16 + + rw + o + + + + + DT1C13ARR + UINT + 32 + + 1 + 2 + + + + DT1C13 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C13ARR + 32 + 16 + + rw + o + + + + + DT1C32 + 280 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sync mode + UINT + 16 + 16 + + rw + o + + + + 2 + Cycle time + UDINT + 32 + 32 + + rw + o + + + + 3 + Shift time + UDINT + 32 + 64 + + ro + o + + + + 4 + Sync modes supported + UINT + 16 + 96 + + ro + o + + + + 5 + Minimum cycle time + UDINT + 32 + 112 + + ro + o + + + + 6 + Calc and copy time + UDINT + 32 + 144 + + ro + o + + + + 8 + Command + UINT + 16 + 176 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 192 + + ro + o + + + + 11 + SM event missed counter + UINT + 16 + 224 + + ro + o + + + + 12 + Cycle exceeded counter + UINT + 16 + 240 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 256 + + ro + o + + + + 32 + Sync error + BOOL + 1 + 272 + + ro + o + + + + + DT6000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Status + UINT + 16 + 16 + + ro + o + T + + + + 2 + Data In + UINT + 16 + 32 + + ro + o + T + + + + + DT6010 + 24 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sel. Ack/End counter + BOOL + 1 + 16 + + ro + o + T + + + + 2 + Ramp active + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Status of input target + BOOL + 1 + 18 + + ro + o + T + + + + 6 + Status of input zero + BOOL + 1 + 19 + + ro + o + T + + + + 7 + Error + BOOL + 1 + 20 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 21 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 22 + + ro + o + T + + + + + DT6020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter done + BOOL + 1 + 16 + + ro + o + T + + + + 4 + Counter underflow + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Counter overflow + BOOL + 1 + 18 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 19 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 20 + + ro + o + T + + + + 17 + Counter value + UDINT + 32 + 24 + + ro + o + T + + + + + DT7000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Ctrl + UINT + 16 + 16 + + ro + o + R + + + + 2 + Data Out + UINT + 16 + 32 + + ro + o + R + + + + + DT7010 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Frequency select + BOOL + 1 + 16 + + ro + o + R + + + + 2 + Disable ramp + BOOL + 1 + 17 + + ro + o + R + + + + 3 + Go counter + BOOL + 1 + 18 + + ro + o + R + + + + 17 + Frequency value + UINT + 16 + 24 + + ro + o + R + + + + 18 + Target counter value + UDINT + 32 + 40 + + ro + o + R + + + + + DT7020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter + BOOL + 1 + 16 + + ro + o + R + + + + 17 + Set counter value + UDINT + 32 + 24 + + ro + o + R + + + + + DT8000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 5 + Rising edge clears/sets counter + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 20 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0800EN01 + 1 + 21 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 24 + + rw + o + 1 + 1 + + + + 11 + Rising edge sets counter + BOOL + 1 + 25 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0801EN02 + 2 + 26 + + rw + o + 1 + 1 + + + + 15 + Negative logic + BOOL + 1 + 28 + + rw + o + 1 + 1 + + + + + DT8001 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Users switch-on-value + UINT + 16 + 16 + + rw + o + 1 + 1 + + + + 2 + Base frequency 1 + UDINT + 32 + 32 + + rw + o + 1 + 1 + + + + 3 + Base frequency 2 + UDINT + 32 + 64 + + rw + o + 1 + 1 + + + + 4 + Ramp time constant (rising) + UINT + 16 + 96 + + rw + o + 1 + 1 + + + + 5 + Ramp time constant (falling) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 6 + Frequency factor (Digit x 10mHz) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 7 + Slowing down frequency + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 8 + Ramp time constant (emergency) + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + + DT8010 + 192 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0802EN01 + 1 + 20 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 21 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0803EN02 + 2 + 24 + + rw + o + 1 + 1 + + + + 16 + Negative logic + BOOL + 1 + 26 + + rw + o + 1 + 1 + + + + 17 + Users switch-on-value + UINT + 16 + 32 + + rw + o + 1 + 1 + + + + 18 + Base frequency 1 + UDINT + 32 + 48 + + rw + o + 1 + 1 + + + + 19 + Base frequency 2 + UDINT + 32 + 80 + + rw + o + 1 + 1 + + + + 20 + Ramp time constant (rising) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 21 + Ramp time constant (falling) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 22 + Frequency factor (Digit x 10mHz) + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 23 + Slowing down frequency + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + 24 + Ramp time constant (emergency) + UINT + 16 + 176 + + rw + o + 1 + 1 + + + + + DT8800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Target counter state + UDINT + 32 + 16 + + rw + o + + + + 2 + Maximum frequency + UINT + 16 + 48 + + rw + o + + + + + DTA000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Counter extension + UINT + 16 + 16 + + ro + o + + + + + DTF000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Module index distance + UINT + 16 + 16 + + ro + o + + + + 2 + Maximum number of modules + UINT + 16 + 32 + + ro + o + + + + + DTF010ARR + UDINT + 96 + + 1 + 3 + + + + DTF010 + 112 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DTF010ARR + 96 + 16 + + rw + o + + + + + +

+ + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + + #x1600 + Outputs + #x1601 + #x1604 + #x1607 + #x1602 + #x1605 + + #x7000 + 1 + 16 + Ctrl + UINT + + + #x7000 + 2 + 16 + Data Out + UINT + + + + #x1601 + PTO Control + #x1600 + + #x7010 + 1 + 1 + Frequency select + BOOL + + + #x7010 + 2 + 1 + Disable ramp + BOOL + + + #x7010 + 3 + 1 + Go counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7010 + 17 + 16 + Frequency value + UINT + + + + #x1604 + PTO Target compact + #x1600 + #x1605 + #x1607 + + #x7010 + 18 + 16 + Target counter value + UINT + + + + #x1607 + PTO Target + #x1600 + #x1602 + #x1604 + + #x7010 + 18 + 32 + Target counter value + UDINT + + + + #x1602 + ENC Control compact + #x1600 + #x1605 + #x1607 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 16 + Set counter value + UINT + + + + #x1605 + ENC Control + #x1600 + #x1602 + #x1604 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 32 + Set counter value + UDINT + + + + #x1a00 + Inputs + #x1a01 + #x1a02 + #x1a05 + + #x6000 + 1 + 16 + Status + UINT + + + #x6000 + 2 + 16 + Data In + UINT + + + + #x1a01 + PTO Status + #x1a00 + + #x6010 + 1 + 1 + Sel. Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Ramp active + BOOL + + + #x0 + 2 + + + #x6010 + 5 + 1 + Status of input target + BOOL + + + #x6010 + 6 + 1 + Status of input zero + BOOL + + + #x6010 + 7 + 1 + Error + BOOL + + + #x0 + 6 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1801 + 9 + 1 + TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1802 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1805 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0024 + + EL2521-0024 1Ch. Pulse Train 24V DC Output + EL2521-0024 1K. Pulse Train 24V DC Ausgang + + + + + 280 + + + + 100 + 2000 + + + + DigOut + + + 5001 + 252 + + + 5001 + 253 + + + 5001 + 511 + + + + + BIT2 + 0 + + + BOOL + 1 + + + BYTE + 8 + + + UDINT + 32 + + + UINT + 16 + + + USINT + 8 + + + ARRAY [0..5] OF BYTE + BYTE + 48 + + 0 + 6 + + + + ARRAY [0..9] OF BYTE + BYTE + 80 + + 0 + 10 + + + + STRING(2) + 16 + + + STRING(6) + 48 + + + DT0800EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0801EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT0802EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0803EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT1011ARR + UDINT + 32 + + 1 + 1 + + + + DT1011 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1011ARR + 32 + 16 + + rw + o + + + + + DT1018 + 144 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + 3 + Revision + UDINT + 32 + 80 + + ro + o + + + + 4 + Serial number + UDINT + 32 + 112 + + ro + o + + + + + DT10F0 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Checksum + UDINT + 32 + 16 + + ro + o + + + + + DT1400 + 96 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude RxPDOs + ARRAY [0..9] OF BYTE + 80 + 16 + + ro + o + + + + + DT1600 + 80 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + + DT1601 + 208 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + + DT1602 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + + DT1604 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + + DT1800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + + DT1801 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + 9 + TxPDO-Toggle + BOOL + 1 + 64 + + ro + o + T + + + + + DT1A01 + 336 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + 7 + SubIndex 007 + UDINT + 32 + 208 + + ro + o + + + + 8 + SubIndex 008 + UDINT + 32 + 240 + + ro + o + + + + 9 + SubIndex 009 + UDINT + 32 + 272 + + ro + o + + + + 10 + SubIndex 010 + UDINT + 32 + 304 + + ro + o + + + + + DT1C00ARR + USINT + 32 + + 1 + 4 + + + + DT1C00 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1C00ARR + 32 + 16 + + ro + o + + + + + DT1C12ARR + UINT + 48 + + 1 + 3 + + + + DT1C12 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C12ARR + 48 + 16 + + rw + o + + + + + DT1C13ARR + UINT + 32 + + 1 + 2 + + + + DT1C13 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C13ARR + 32 + 16 + + rw + o + + + + + DT1C32 + 280 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sync mode + UINT + 16 + 16 + + rw + o + + + + 2 + Cycle time + UDINT + 32 + 32 + + rw + o + + + + 3 + Shift time + UDINT + 32 + 64 + + ro + o + + + + 4 + Sync modes supported + UINT + 16 + 96 + + ro + o + + + + 5 + Minimum cycle time + UDINT + 32 + 112 + + ro + o + + + + 6 + Calc and copy time + UDINT + 32 + 144 + + ro + o + + + + 8 + Command + UINT + 16 + 176 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 192 + + ro + o + + + + 11 + SM event missed counter + UINT + 16 + 224 + + ro + o + + + + 12 + Cycle exceeded counter + UINT + 16 + 240 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 256 + + ro + o + + + + 32 + Sync error + BOOL + 1 + 272 + + ro + o + + + + + DT6000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Status + UINT + 16 + 16 + + ro + o + T + + + + 2 + Data In + UINT + 16 + 32 + + ro + o + T + + + + + DT6010 + 24 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sel. Ack/End counter + BOOL + 1 + 16 + + ro + o + T + + + + 2 + Ramp active + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Status of input target + BOOL + 1 + 18 + + ro + o + T + + + + 6 + Status of input zero + BOOL + 1 + 19 + + ro + o + T + + + + 7 + Error + BOOL + 1 + 20 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 21 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 22 + + ro + o + T + + + + + DT6020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter done + BOOL + 1 + 16 + + ro + o + T + + + + 4 + Counter underflow + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Counter overflow + BOOL + 1 + 18 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 19 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 20 + + ro + o + T + + + + 17 + Counter value + UDINT + 32 + 24 + + ro + o + T + + + + + DT7000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Ctrl + UINT + 16 + 16 + + ro + o + R + + + + 2 + Data Out + UINT + 16 + 32 + + ro + o + R + + + + + DT7010 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Frequency select + BOOL + 1 + 16 + + ro + o + R + + + + 2 + Disable ramp + BOOL + 1 + 17 + + ro + o + R + + + + 3 + Go counter + BOOL + 1 + 18 + + ro + o + R + + + + 17 + Frequency value + UINT + 16 + 24 + + ro + o + R + + + + 18 + Target counter value + UDINT + 32 + 40 + + ro + o + R + + + + + DT7020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter + BOOL + 1 + 16 + + ro + o + R + + + + 17 + Set counter value + UDINT + 32 + 24 + + ro + o + R + + + + + DT8000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 5 + Rising edge clears/sets counter + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 20 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0800EN01 + 1 + 21 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 24 + + rw + o + 1 + 1 + + + + 11 + Rising edge sets counter + BOOL + 1 + 25 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0801EN02 + 2 + 26 + + rw + o + 1 + 1 + + + + 15 + Negative logic + BOOL + 1 + 28 + + rw + o + 1 + 1 + + + + + DT8001 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Users switch-on-value + UINT + 16 + 16 + + rw + o + 1 + 1 + + + + 2 + Base frequency 1 + UDINT + 32 + 32 + + rw + o + 1 + 1 + + + + 3 + Base frequency 2 + UDINT + 32 + 64 + + rw + o + 1 + 1 + + + + 4 + Ramp time constant (rising) + UINT + 16 + 96 + + rw + o + 1 + 1 + + + + 5 + Ramp time constant (falling) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 6 + Frequency factor (Digit x 10mHz) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 7 + Slowing down frequency + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 8 + Ramp time constant (emergency) + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + + DT8010 + 192 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0802EN01 + 1 + 20 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 21 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0803EN02 + 2 + 24 + + rw + o + 1 + 1 + + + + 16 + Negative logic + BOOL + 1 + 26 + + rw + o + 1 + 1 + + + + 17 + Users switch-on-value + UINT + 16 + 32 + + rw + o + 1 + 1 + + + + 18 + Base frequency 1 + UDINT + 32 + 48 + + rw + o + 1 + 1 + + + + 19 + Base frequency 2 + UDINT + 32 + 80 + + rw + o + 1 + 1 + + + + 20 + Ramp time constant (rising) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 21 + Ramp time constant (falling) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 22 + Frequency factor (Digit x 10mHz) + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 23 + Slowing down frequency + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + 24 + Ramp time constant (emergency) + UINT + 16 + 176 + + rw + o + 1 + 1 + + + + + DT8800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Target counter state + UDINT + 32 + 16 + + rw + o + + + + 2 + Maximum frequency + UINT + 16 + 48 + + rw + o + + + + + DTA000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Counter extension + UINT + 16 + 16 + + ro + o + + + + + DTF000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Module index distance + UINT + 16 + 16 + + ro + o + + + + 2 + Maximum number of modules + UINT + 16 + 32 + + ro + o + + + + + DTF010ARR + UDINT + 96 + + 1 + 3 + + + + DTF010 + 112 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DTF010ARR + 96 + 16 + + rw + o + + + + + +

+ + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + + #x1600 + Outputs + #x1601 + #x1604 + #x1607 + #x1602 + #x1605 + + #x7000 + 1 + 16 + Ctrl + UINT + + + #x7000 + 2 + 16 + Data Out + UINT + + + + #x1601 + PTO Control + #x1600 + + #x7010 + 1 + 1 + Frequency select + BOOL + + + #x7010 + 2 + 1 + Disable ramp + BOOL + + + #x7010 + 3 + 1 + Go counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7010 + 17 + 16 + Frequency value + UINT + + + + #x1604 + PTO Target compact + #x1600 + #x1605 + #x1607 + + #x7010 + 18 + 16 + Target counter value + UINT + + + + #x1607 + PTO Target + #x1600 + #x1602 + #x1604 + + #x7010 + 18 + 32 + Target counter value + UDINT + + + + #x1602 + ENC Control compact + #x1600 + #x1605 + #x1607 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 16 + Set counter value + UINT + + + + #x1605 + ENC Control + #x1600 + #x1602 + #x1604 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 32 + Set counter value + UDINT + + + + #x1a00 + Inputs + #x1a01 + #x1a02 + #x1a05 + + #x6000 + 1 + 16 + Status + UINT + + + #x6000 + 2 + 16 + Data In + UINT + + + + #x1a01 + PTO Status + #x1a00 + + #x6010 + 1 + 1 + Sel. Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Ramp active + BOOL + + + #x0 + 2 + + + #x6010 + 5 + 1 + Status of input target + BOOL + + + #x6010 + 6 + 1 + Status of input zero + BOOL + + + #x6010 + 7 + 1 + Error + BOOL + + + #x0 + 6 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1801 + 9 + 1 + TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1802 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1805 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0024 + + + EL2521-0024 1Ch. Pulse Train 24V DC Output + EL2521-0024 1K. 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Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Status__Ramp active + BOOL + + + #x0 + 2 + Status__ + + + #x6010 + 5 + 1 + Status__Status of input target + BOOL + + + #x6010 + 6 + 1 + Status__Status of input zero + BOOL + + + #x6010 + 7 + 1 + Status__Error + BOOL + + + #x0 + 6 + Status__ + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__ + + + #x1801 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1802 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1805 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0025 + EL2521-0025 1Ch. 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modules + UINT + 16 + 32 + + ro + o + + + + + DTF010ARR + UDINT + 96 + + 1 + 3 + + + + DTF010 + 112 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DTF010ARR + 96 + 16 + + rw + o + + + + + +

+ + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + + #x1600 + Outputs + #x1601 + #x1604 + #x1607 + #x1602 + #x1605 + + #x7000 + 1 + 16 + Ctrl + UINT + + + #x7000 + 2 + 16 + Data Out + UINT + + + + #x1601 + PTO Control + #x1600 + + #x7010 + 1 + 1 + Frequency select + BOOL + + + #x7010 + 2 + 1 + Disable ramp + BOOL + + + #x7010 + 3 + 1 + Go counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7010 + 17 + 16 + Frequency value + UINT + + + + #x1604 + PTO Target compact + #x1600 + #x1605 + #x1607 + + #x7010 + 18 + 16 + Target counter value + UINT + + + + #x1607 + PTO Target + #x1600 + #x1602 + #x1604 + + #x7010 + 18 + 32 + Target counter value + UDINT + + + + #x1602 + ENC Control compact + #x1600 + #x1605 + #x1607 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 16 + Set counter value + UINT + + + + #x1605 + ENC Control + #x1600 + #x1602 + #x1604 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 32 + Set counter value + UDINT + + + + #x1a00 + Inputs + #x1a01 + #x1a02 + #x1a05 + + #x6000 + 1 + 16 + Status + UINT + + + #x6000 + 2 + 16 + Data In + UINT + + + + #x1a01 + PTO Status + #x1a00 + + #x6010 + 1 + 1 + Sel. Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Ramp active + BOOL + + + #x0 + 2 + + + #x6010 + 5 + 1 + Status of input target + BOOL + + + #x6010 + 6 + 1 + Status of input zero + BOOL + + + #x6010 + 7 + 1 + Error + BOOL + + + #x0 + 6 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1801 + 9 + 1 + TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1802 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1805 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0025 + + EL2521-0025 1Ch. Pulse Train 24V DC Output negative + EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ + + + + + 280 + + + + 100 + 2000 + + + + DigOut + + + 5001 + 252 + + + 5001 + 253 + + + 5001 + 511 + + + + + BIT2 + 0 + + + BOOL + 1 + + + BYTE + 8 + + + UDINT + 32 + + + UINT + 16 + + + USINT + 8 + + + ARRAY [0..5] OF BYTE + BYTE + 48 + + 0 + 6 + + + + ARRAY [0..9] OF BYTE + BYTE + 80 + + 0 + 10 + + + + STRING(2) + 16 + + + STRING(6) + 48 + + + DT0800EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0801EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT0802EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0803EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT1011ARR + UDINT + 32 + + 1 + 1 + + + + DT1011 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1011ARR + 32 + 16 + + rw + o + + + + + DT1018 + 144 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Vendor ID + UDINT + 32 + 16 + + ro + o + + + + 2 + Product code + UDINT + 32 + 48 + + ro + o + + + + 3 + Revision + UDINT + 32 + 80 + + ro + o + + + + 4 + Serial number + UDINT + 32 + 112 + + ro + o + + + + + DT10F0 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Checksum + UDINT + 32 + 16 + + ro + o + + + + + DT1400 + 96 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude RxPDOs + ARRAY [0..9] OF BYTE + 80 + 16 + + ro + o + + + + + DT1600 + 80 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + + DT1601 + 208 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + + DT1602 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + + DT1604 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + + DT1800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + + DT1801 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 6 + Exclude TxPDOs + ARRAY [0..5] OF BYTE + 48 + 16 + + ro + o + + + + 9 + TxPDO-Toggle + BOOL + 1 + 64 + + ro + o + T + + + + + DT1A01 + 336 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + SubIndex 001 + UDINT + 32 + 16 + + ro + o + + + + 2 + SubIndex 002 + UDINT + 32 + 48 + + ro + o + + + + 3 + SubIndex 003 + UDINT + 32 + 80 + + ro + o + + + + 4 + SubIndex 004 + UDINT + 32 + 112 + + ro + o + + + + 5 + SubIndex 005 + UDINT + 32 + 144 + + ro + o + + + + 6 + SubIndex 006 + UDINT + 32 + 176 + + ro + o + + + + 7 + SubIndex 007 + UDINT + 32 + 208 + + ro + o + + + + 8 + SubIndex 008 + UDINT + 32 + 240 + + ro + o + + + + 9 + SubIndex 009 + UDINT + 32 + 272 + + ro + o + + + + 10 + SubIndex 010 + UDINT + 32 + 304 + + ro + o + + + + + DT1C00ARR + USINT + 32 + + 1 + 4 + + + + DT1C00 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + Elements + DT1C00ARR + 32 + 16 + + ro + o + + + + + DT1C12ARR + UINT + 48 + + 1 + 3 + + + + DT1C12 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C12ARR + 48 + 16 + + rw + o + + + + + DT1C13ARR + UINT + 32 + + 1 + 2 + + + + DT1C13 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DT1C13ARR + 32 + 16 + + rw + o + + + + + DT1C32 + 280 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sync mode + UINT + 16 + 16 + + rw + o + + + + 2 + Cycle time + UDINT + 32 + 32 + + rw + o + + + + 3 + Shift time + UDINT + 32 + 64 + + ro + o + + + + 4 + Sync modes supported + UINT + 16 + 96 + + ro + o + + + + 5 + Minimum cycle time + UDINT + 32 + 112 + + ro + o + + + + 6 + Calc and copy time + UDINT + 32 + 144 + + ro + o + + + + 8 + Command + UINT + 16 + 176 + + rw + o + + + + 9 + Delay time + UDINT + 32 + 192 + + ro + o + + + + 11 + SM event missed counter + UINT + 16 + 224 + + ro + o + + + + 12 + Cycle exceeded counter + UINT + 16 + 240 + + ro + o + + + + 13 + Shift too short counter + UINT + 16 + 256 + + ro + o + + + + 32 + Sync error + BOOL + 1 + 272 + + ro + o + + + + + DT6000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Status + UINT + 16 + 16 + + ro + o + T + + + + 2 + Data In + UINT + 16 + 32 + + ro + o + T + + + + + DT6010 + 24 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Sel. Ack/End counter + BOOL + 1 + 16 + + ro + o + T + + + + 2 + Ramp active + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Status of input target + BOOL + 1 + 18 + + ro + o + T + + + + 6 + Status of input zero + BOOL + 1 + 19 + + ro + o + T + + + + 7 + Error + BOOL + 1 + 20 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 21 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 22 + + ro + o + T + + + + + DT6020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter done + BOOL + 1 + 16 + + ro + o + T + + + + 4 + Counter underflow + BOOL + 1 + 17 + + ro + o + T + + + + 5 + Counter overflow + BOOL + 1 + 18 + + ro + o + T + + + + 14 + Sync Error + BOOL + 1 + 19 + + ro + o + T + + + + 16 + TxPDO Toggle + BOOL + 1 + 20 + + ro + o + T + + + + 17 + Counter value + UDINT + 32 + 24 + + ro + o + T + + + + + DT7000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Ctrl + UINT + 16 + 16 + + ro + o + R + + + + 2 + Data Out + UINT + 16 + 32 + + ro + o + R + + + + + DT7010 + 72 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Frequency select + BOOL + 1 + 16 + + ro + o + R + + + + 2 + Disable ramp + BOOL + 1 + 17 + + ro + o + R + + + + 3 + Go counter + BOOL + 1 + 18 + + ro + o + R + + + + 17 + Frequency value + UINT + 16 + 24 + + ro + o + R + + + + 18 + Target counter value + UDINT + 32 + 40 + + ro + o + R + + + + + DT7020 + 56 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 3 + Set counter + BOOL + 1 + 16 + + ro + o + R + + + + 17 + Set counter value + UDINT + 32 + 24 + + ro + o + R + + + + + DT8000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 5 + Rising edge clears/sets counter + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 20 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0800EN01 + 1 + 21 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 24 + + rw + o + 1 + 1 + + + + 11 + Rising edge sets counter + BOOL + 1 + 25 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0801EN02 + 2 + 26 + + rw + o + 1 + 1 + + + + 15 + Negative logic + BOOL + 1 + 28 + + rw + o + 1 + 1 + + + + + DT8001 + 176 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Users switch-on-value + UINT + 16 + 16 + + rw + o + 1 + 1 + + + + 2 + Base frequency 1 + UDINT + 32 + 32 + + rw + o + 1 + 1 + + + + 3 + Base frequency 2 + UDINT + 32 + 64 + + rw + o + 1 + 1 + + + + 4 + Ramp time constant (rising) + UINT + 16 + 96 + + rw + o + 1 + 1 + + + + 5 + Ramp time constant (falling) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 6 + Frequency factor (Digit x 10mHz) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 7 + Slowing down frequency + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 8 + Ramp time constant (emergency) + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + + DT8010 + 192 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 2 + Emergency ramp active + BOOL + 1 + 16 + + rw + o + 1 + 1 + + + + 3 + Watchdog timer deactive + BOOL + 1 + 17 + + rw + o + 1 + 1 + + + + 4 + Sign/amount representation + BOOL + 1 + 18 + + rw + o + 1 + 1 + + + + 6 + Ramp function active + BOOL + 1 + 19 + + rw + o + 1 + 1 + + + + 7 + Ramp base frequency + DT0802EN01 + 1 + 20 + + rw + o + 1 + 1 + + + + 8 + Direct input mode + BOOL + 1 + 21 + + rw + o + 1 + 1 + + + + 9 + Users switch-on-value on wdt + BOOL + 1 + 22 + + rw + o + 1 + 1 + + + + 10 + Travel distance control active + BOOL + 1 + 23 + + rw + o + 1 + 1 + + + + 14 + Operating mode + DT0803EN02 + 2 + 24 + + rw + o + 1 + 1 + + + + 16 + Negative logic + BOOL + 1 + 26 + + rw + o + 1 + 1 + + + + 17 + Users switch-on-value + UINT + 16 + 32 + + rw + o + 1 + 1 + + + + 18 + Base frequency 1 + UDINT + 32 + 48 + + rw + o + 1 + 1 + + + + 19 + Base frequency 2 + UDINT + 32 + 80 + + rw + o + 1 + 1 + + + + 20 + Ramp time constant (rising) + UINT + 16 + 112 + + rw + o + 1 + 1 + + + + 21 + Ramp time constant (falling) + UINT + 16 + 128 + + rw + o + 1 + 1 + + + + 22 + Frequency factor (Digit x 10mHz) + UINT + 16 + 144 + + rw + o + 1 + 1 + + + + 23 + Slowing down frequency + UINT + 16 + 160 + + rw + o + 1 + 1 + + + + 24 + Ramp time constant (emergency) + UINT + 16 + 176 + + rw + o + 1 + 1 + + + + + DT8800 + 64 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Target counter state + UDINT + 32 + 16 + + rw + o + + + + 2 + Maximum frequency + UINT + 16 + 48 + + rw + o + + + + + DTA000 + 32 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Counter extension + UINT + 16 + 16 + + ro + o + + + + + DTF000 + 48 + + 0 + SubIndex 000 + USINT + 8 + 0 + + ro + o + + + + 1 + Module index distance + UINT + 16 + 16 + + ro + o + + + + 2 + Maximum number of modules + UINT + 16 + 32 + + ro + o + + + + + DTF010ARR + UDINT + 96 + + 1 + 3 + + + + DTF010 + 112 + + 0 + SubIndex 000 + USINT + 8 + 0 + + rw + o + + + + Elements + DTF010ARR + 96 + 16 + + rw + o + + + + + +

+ + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + + #x1600 + Outputs + #x1601 + #x1604 + #x1607 + #x1602 + #x1605 + + #x7000 + 1 + 16 + Ctrl + UINT + + + #x7000 + 2 + 16 + Data Out + UINT + + + + #x1601 + PTO Control + #x1600 + + #x7010 + 1 + 1 + Frequency select + BOOL + + + #x7010 + 2 + 1 + Disable ramp + BOOL + + + #x7010 + 3 + 1 + Go counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7010 + 17 + 16 + Frequency value + UINT + + + + #x1604 + PTO Target compact + #x1600 + #x1605 + #x1607 + + #x7010 + 18 + 16 + Target counter value + UINT + + + + #x1607 + PTO Target + #x1600 + #x1602 + #x1604 + + #x7010 + 18 + 32 + Target counter value + UDINT + + + + #x1602 + ENC Control compact + #x1600 + #x1605 + #x1607 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 16 + Set counter value + UINT + + + + #x1605 + ENC Control + #x1600 + #x1602 + #x1604 + + #x0 + 2 + + + #x7020 + 3 + 1 + Set counter + BOOL + + + #x0 + 5 + + + #x0 + 8 + + + #x7020 + 17 + 32 + Set counter value + UDINT + + + + #x1a00 + Inputs + #x1a01 + #x1a02 + #x1a05 + + #x6000 + 1 + 16 + Status + UINT + + + #x6000 + 2 + 16 + Data In + UINT + + + + #x1a01 + PTO Status + #x1a00 + + #x6010 + 1 + 1 + Sel. Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Ramp active + BOOL + + + #x0 + 2 + + + #x6010 + 5 + 1 + Status of input target + BOOL + + + #x6010 + 6 + 1 + Status of input zero + BOOL + + + #x6010 + 7 + 1 + Error + BOOL + + + #x0 + 6 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1801 + 9 + 1 + TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1802 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + + + #x6020 + 3 + 1 + Set counter done + BOOL + + + #x6020 + 4 + 1 + Counter underflow + BOOL + + + #x6020 + 5 + 1 + Counter overflow + BOOL + + + #x0 + 3 + + + #x0 + 5 + + + #x1c32 + 32 + 1 + Sync Error + BOOL + + + #x0 + 1 + + + #x1805 + 9 + 1 + TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0025 + + + EL2521-0025 1Ch. Pulse Train 24V DC Output negative + EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ + + + + + 280 + + + + 100 + 2000 + + + + + + Legacy (MDP 252) + + #x1600 + + + #x1a00 + + + + Standard 16 Bit (MDP 253/511) + + #x1601 + #x1602 + #x1604 + + + #x1a01 + #x1a02 + + + + Standard 32 Bit (MDP 253/511) + + #x1601 + #x1605 + #x1607 + + + #x1a01 + #x1a05 + + + + + + DigOut + + + 5001 + 252 + + + 5001 + 253 + + + 5001 + 511 + + + + + BIT2 + 2 + + + BOOL + 1 + + + BYTE + 8 + + + UDINT + 32 + + + UINT + 16 + + + USINT + 8 + + + ARRAY [0..5] OF BYTE + BYTE + 48 + + 0 + 6 + + + + ARRAY [0..9] OF BYTE + BYTE + 80 + + 0 + 10 + + + + STRING(11) + 88 + + + STRING(2) + 16 + + + DT0800EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0801EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT0802EN01 + BOOL + 1 + + 10 Hz + 0 + + + 1 kHz + 1 + + + + DT0803EN02 + USINT + 2 + + Frequency mod. + 0 + + + Pulse-dir. ctrl + 1 + + + Incremental enc. + 2 + + + + DT1011ARR + UDINT + 32 + + 1 + 1 + + + + DT1011 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Pulse Train Output + EL2521-1001 1K. 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Pulse Train Output + EL2521-1001 1K. 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+ + + + Outputs + Inputs + MBoxOut + MBoxIn + Outputs + Inputs + Drives + + #x1600 + Receive PDO mapping + + #x6040 + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + 0 + 16 + Target Torque + object 0x6071:0 + UINT + + + #x6060 + 0 + 8 + Mode of Operation + object 0x6060:0 + USINT + + + + #x1A00 + Transmit PDO mapping + + #x6041 + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + 0 + 16 + Torque actual value + object 0x6077:0 + UINT + + + #x6061 + 0 + 8 + Modes of operation display + object 0x6061:0 + USINT + + + + + + + + + DC + DC-Synchron + #x700 + 1000 + 0 + 50000 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/ethercat@etherlab/plugin.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/plugin.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,2 @@ + + diff -r 76346b30f6f9 -r 62e102935f3e ethercat_tests/wago_higen/plc.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/plc.xml Sun Apr 01 16:36:41 2012 +0200 @@ -0,0 +1,433 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + CLOCK + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + CLOCK + + + + + + + CLOCK + + + + + + + 4000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Axis + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1800.0 + + + + + + + 360.0 + + + + + + + + + + + + + + + + + + + diff -r 76346b30f6f9 -r 62e102935f3e etherlab/etherlab.py --- a/etherlab/etherlab.py Sat Mar 31 15:13:14 2012 +0200 +++ b/etherlab/etherlab.py Sun Apr 01 16:36:41 2012 +0200 @@ -166,10 +166,10 @@ NODE_VARIABLES = [ ("ControlWord", 0x6040, 0x00, "UINT", "Q"), ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), + ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), ("StatusWord", 0x6041, 0x00, "UINT", "I"), ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), ("ActualPosition", 0x6064, 0x00, "DINT", "I"), - ("ErrorCode", 0x603f, 0x00, "UINT", "I"), ] class _EthercatCIA402SlavePlug(_EthercatSlavePlug): @@ -210,10 +210,10 @@ location_str = "_".join(map(lambda x:str(x), current_location)) - plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c") - plc_ds402node_file = open(plc_ds402node_filepath, 'r') - plc_ds402node_code = plc_ds402node_file.read() - plc_ds402node_file.close() + plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c") + plc_cia402node_file = open(plc_cia402node_filepath, 'r') + plc_cia402node_code = plc_cia402node_file.read() + plc_cia402node_file.close() str_completion = { "location": location_str, @@ -261,10 +261,10 @@ "init_entry_variables"]: str_completion[element] = "\n".join(str_completion[element]) - Gen_CIA402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str) - ds402nodefile = open(Gen_CIA402Nodefile_path, 'w') - ds402nodefile.write(plc_ds402node_code % str_completion) - ds402nodefile.close() + Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) + cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') + cia402nodefile.write(plc_cia402node_code % str_completion) + cia402nodefile.close() return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True @@ -926,8 +926,14 @@ entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"]))) entry_declaration["mapped"] = True - if entry_infos["var_type"] != entry.getDataType().getcontent(): - raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + entry_type = entry.getDataType().getcontent() + if entry_infos["var_type"] != entry_type: + message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + self.Controler.GetSizeOfType(entry_type)): + raise ValueError, message + else: + self.Controler.GetPlugRoot().logger.write_warning(message + "\n") if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or entry_infos["dir"] == "Q" and pdo_type != "Outputs"): @@ -1004,7 +1010,12 @@ entry_declaration["mapped"] = True if entry_infos["var_type"] != entry["Type"]: - raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + self.Controler.GetSizeOfType(entry["Type"])): + raise ValueError, message + else: + self.Controler.GetPlugRoot().logger.write_warning(message + "\n") if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: pdo_type = "Inputs" diff -r 76346b30f6f9 -r 62e102935f3e etherlab/plc_cia402node.c --- a/etherlab/plc_cia402node.c Sat Mar 31 15:13:14 2012 +0200 +++ b/etherlab/plc_cia402node.c Sun Apr 01 16:36:41 2012 +0200 @@ -61,7 +61,7 @@ if (__FirstTick) { %(init_axis_params)s - _FirstTick = 0; + __FirstTick = 0; } // CIA402 node state computation