# HG changeset patch # User Laurent Bessard # Date 1367278794 -7200 # Node ID f407a0e154c52eb20095e92e61b6f33e308c5e2d # Parent 6963460bfe0fec3d24074f7e24f4320c4eeea652 Update higen drive example introducing usage of csv mode diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Tue Apr 30 01:31:47 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Tue Apr 30 01:39:54 2013 +0200 @@ -1,127 +1,127 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd"> - <Config> - <Master> - <Info> - <Name></Name> - <Destination>00</Destination> - <Source>00</Source> - </Info> - </Master> - <Slave> - <Info> - <Name>EK1100</Name> - <PhysAddr>0</PhysAddr> - <AutoIncAddr>0</AutoIncAddr> - <Physics></Physics> - <VendorId>2</VendorId> - <ProductCode>72100946</ProductCode> - <RevisionNo>65536</RevisionNo> - <SerialNo>0</SerialNo> - </Info> - <Mailbox> - <Send> - <Start>0</Start> - <Length>0</Length> - </Send> - <Recv> - <Start>0</Start> - <Length>0</Length> - </Recv> - <CoE> - <InitCmds/> - </CoE> - </Mailbox> - </Slave> - <Slave> - <Info> - <Name>EL1088</Name> - <PhysAddr>1</PhysAddr> - <AutoIncAddr>0</AutoIncAddr> - <Physics></Physics> - <VendorId>2</VendorId> - <ProductCode>71315538</ProductCode> - <RevisionNo>1048576</RevisionNo> - <SerialNo>0</SerialNo> - </Info> - <Mailbox> - <Send> - <Start>0</Start> - <Length>0</Length> - </Send> - <Recv> - <Start>0</Start> - <Length>0</Length> - </Recv> - <CoE> - <InitCmds/> - </CoE> - </Mailbox> - </Slave> - <Slave> - <Info> - <Name>EL2088</Name> - <PhysAddr>2</PhysAddr> - <AutoIncAddr>0</AutoIncAddr> - <Physics></Physics> - <VendorId>2</VendorId> - <ProductCode>136851538</ProductCode> - <RevisionNo>1048576</RevisionNo> - <SerialNo>0</SerialNo> - </Info> - </Slave> - <Slave> - <Info> - <Name>EDA7000 CoE Drive</Name> - <PhysAddr>3</PhysAddr> - <AutoIncAddr>0</AutoIncAddr> - <Physics></Physics> - <VendorId>1573</VendorId> - <ProductCode>1768449365</ProductCode> - <RevisionNo>2</RevisionNo> - <SerialNo>0</SerialNo> - </Info> - <Mailbox> - <Send> - <Start>0</Start> - <Length>0</Length> - </Send> - <Recv> - <Start>0</Start> - <Length>0</Length> - </Recv> - <CoE> - <InitCmds> - <InitCmd> - <Transition>II</Transition> - <Comment>Configure limit switches signal</Comment> - <Timeout>0</Timeout> - <Ccs>0</Ccs> - <Index>8229</Index> - <SubIndex>0</SubIndex> - <Data>07</Data> - </InitCmd> - <InitCmd> - <Transition>II</Transition> - <Comment></Comment> - <Timeout>0</Timeout> - <Ccs>0</Ccs> - <Index>24800</Index> - <SubIndex>0</SubIndex> - <Data>05DC</Data> - </InitCmd> - <InitCmd> - <Transition>II</Transition> - <Comment></Comment> - <Timeout>0</Timeout> - <Ccs>0</Ccs> - <Index>24801</Index> - <SubIndex>0</SubIndex> - <Data>05DC</Data> - </InitCmd> - </InitCmds> - </CoE> - </Mailbox> - </Slave> - </Config> -</EtherCATConfig> +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd"> + <Config> + <Master> + <Info> + <Name></Name> + <Destination>00</Destination> + <Source>00</Source> + </Info> + </Master> + <Slave> + <Info> + <Name>EK1100</Name> + <PhysAddr>0</PhysAddr> + <AutoIncAddr>0</AutoIncAddr> + <Physics></Physics> + <VendorId>2</VendorId> + <ProductCode>72100946</ProductCode> + <RevisionNo>65536</RevisionNo> + <SerialNo>0</SerialNo> + </Info> + <Mailbox> + <Send> + <Start>0</Start> + <Length>0</Length> + </Send> + <Recv> + <Start>0</Start> + <Length>0</Length> + </Recv> + <CoE> + <InitCmds/> + </CoE> + </Mailbox> + </Slave> + <Slave> + <Info> + <Name>EL1088</Name> + <PhysAddr>1</PhysAddr> + <AutoIncAddr>0</AutoIncAddr> + <Physics></Physics> + <VendorId>2</VendorId> + <ProductCode>71315538</ProductCode> + <RevisionNo>1048576</RevisionNo> + <SerialNo>0</SerialNo> + </Info> + <Mailbox> + <Send> + <Start>0</Start> + <Length>0</Length> + </Send> + <Recv> + <Start>0</Start> + <Length>0</Length> + </Recv> + <CoE> + <InitCmds/> + </CoE> + </Mailbox> + </Slave> + <Slave> + <Info> + <Name>EL2088</Name> + <PhysAddr>2</PhysAddr> + <AutoIncAddr>0</AutoIncAddr> + <Physics></Physics> + <VendorId>2</VendorId> + <ProductCode>136851538</ProductCode> + <RevisionNo>1048576</RevisionNo> + <SerialNo>0</SerialNo> + </Info> + </Slave> + <Slave> + <Info> + <Name>EDA7000 CoE Drive</Name> + <PhysAddr>3</PhysAddr> + <AutoIncAddr>0</AutoIncAddr> + <Physics></Physics> + <VendorId>1573</VendorId> + <ProductCode>1768449365</ProductCode> + <RevisionNo>3</RevisionNo> + <SerialNo>0</SerialNo> + </Info> + <Mailbox> + <Send> + <Start>0</Start> + <Length>0</Length> + </Send> + <Recv> + <Start>0</Start> + <Length>0</Length> + </Recv> + <CoE> + <InitCmds> + <InitCmd> + <Transition>II</Transition> + <Comment>Configure limit switches signal</Comment> + <Timeout>0</Timeout> + <Ccs>0</Ccs> + <Index>8229</Index> + <SubIndex>0</SubIndex> + <Data>07</Data> + </InitCmd> + <InitCmd> + <Transition>II</Transition> + <Comment></Comment> + <Timeout>0</Timeout> + <Ccs>0</Ccs> + <Index>24800</Index> + <SubIndex>0</SubIndex> + <Data>05DC</Data> + </InitCmd> + <InitCmd> + <Transition>II</Transition> + <Comment></Comment> + <Timeout>0</Timeout> + <Ccs>0</Ccs> + <Index>24801</Index> + <SubIndex>0</SubIndex> + <Data>05DC</Data> + </InitCmd> + </InitCmds> + </CoE> + </Mailbox> + </Slave> + </Config> +</EtherCATConfig> diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Tue Apr 30 01:31:47 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Tue Apr 30 01:39:54 2013 +0200 @@ -1,2 +1,2 @@ -<?xml version="1.0" encoding="UTF-8"?> -<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" HomingMaxTorque="100" HomingVelocity="360"/> +<?xml version="1.0" encoding="UTF-8"?> +<CIA402SlaveParams HomingMaxTorque="100" DynamicPDOs="false" EnableDigitalInputs="true" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" HomingTorqueLimit="500" HomingVelocity="360" TorqueRatioNumerator="10" TorqueRatioDenominator="1"/> diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Tue Apr 30 01:31:47 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Tue Apr 30 01:39:54 2013 +0200 @@ -1,7 +1,2 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> - <variable Name="Digital_IO" Comment="Transfering inputs to outputs"> - <ReadFrom Position="3" Index="24829" SubIndex="0"/> - <WriteTo Position="3" Index="24830" SubIndex="1"/> - </variable> -</ProcessVariables> +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/> diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml --- a/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Tue Apr 30 01:31:47 2013 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,3090 +0,0 @@ -<?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> - <BitSize>8</BitSize> - <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> - <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> - </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> - <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> - <BitSize>176</BitSize> - <SubItem> - <SubIdx>0</SubIdx> - <Name>largest sub-index supported</Name> - <Type>USINT</Type> - <BitSize>8</BitSize> - <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> - <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> - </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> - <BitSize>32</BitSize> - <BitOffs>144</BitOffs> - <Flags> - <Access>rw</Access> - <Category>o</Category> - </Flags> - </SubItem> - </DataType> - <DataType> - <Name>DT1A02</Name> - <BitSize>304</BitSize> - <SubItem> - <SubIdx>0</SubIdx> - <Name>largest sub-index supported</Name> - <Type>USINT</Type> - <BitSize>8</BitSize> - <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> - <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> - </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> - <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> - <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> - <BitOffs>240</BitOffs> - <Flags> - <Access>rw</Access> - <Category>o</Category> - </Flags> - </SubItem> - <SubItem> - <SubIdx>9</SubIdx> - <Name>9 mapping data</Name> - <Type>UDINT</Type> - <BitSize>32</BitSize> - <BitOffs>272</BitOffs> - <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> - <BitSize>8</BitSize> - <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> - 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<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"/> - </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> diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.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_rv3.xml Tue Apr 30 01:39:54 2013 +0200 @@ -0,0 +1,3734 @@ +<?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> + 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+ </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="#x00000003">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>STRING(4)</Name> + <BitSize>32</BitSize> + </DataType> + <DataType> + <Name>STRING(12)</Name> + <BitSize>96</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> + 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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>#x20A0</Index> + <Name>Alarm history</Name> + <Type>DT20A0</Type> + <BitSize>368</BitSize> + <Info> + <SubItem> + <Name>largest sub-index supported</Name> + <Info> + <DefaultData>12</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 1</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 2</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 3</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 4</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 5</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 6</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 7</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 8</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 9</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm history 10</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Alarm Reset</Name> + <Info> + <DefaultData>00000000</DefaultData> + </Info> + </SubItem> + </Info> + <Flags> + <Access>rw</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> + <Object> + <Index>#x6080</Index> + <Name>Max Motor Speed </Name> + <Type>UDINT</Type> + <BitSize>32</BitSize> + <Info> + <DefaultData>00004E20</DefaultData> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x608F</Index> + <Name>Position encoder revolution</Name> + <Type>DT608F</Type> + <BitSize>80</BitSize> + <Info> + <SubItem> + <Name>largest sub-index supported</Name> + <Info> + <DefaultData>02</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Encoder increments</Name> + <Info> + <DefaultData>00000200</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Motor revolutions</Name> + <Info> + <DefaultData>01000000</DefaultData> + </Info> + </SubItem> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x6090</Index> + <Name>Velocity Encoder revolution</Name> + <Type>DT6090</Type> + <BitSize>80</BitSize> + <Info> + <SubItem> + <Name>largest sub-index supported</Name> + <Info> + <DefaultData>02</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Encoder incremets per second</Name> + <Info> + <DefaultData>00000200</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Motor revolutions per second</Name> + <Info> + <DefaultData>01000000</DefaultData> + </Info> + </SubItem> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x6092</Index> + <Name>Feed constant</Name> + <Type>DT6092</Type> + <BitSize>80</BitSize> + <Info> + <SubItem> + <Name>largest sub-index supported</Name> + <Info> + <DefaultData>02</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Feed</Name> + <Info> + <DefaultData>00020000</DefaultData> + </Info> + </SubItem> + <SubItem> + <Name>Shaft revolutions</Name> + <Info> + <DefaultData>00000001</DefaultData> + </Info> + </SubItem> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x6403</Index> + <Name>Motor catalog number</Name> + <Type>STRING(4)</Type> + <BitSize>32</BitSize> + <Info> + <DefaultData>30303030</DefaultData> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x1008</Index> + <Name>Manufacturer Device Name</Name> + <Type>STRING(12)</Type> + <BitSize>96</BitSize> + <Info> + <DefaultData>454441373030300000000000</DefaultData> + </Info> + <Flags> + <Access>ro</Access> + <Category>o</Category> + </Flags> + </Object> + <Object> + <Index>#x6072</Index> + <Name>Max torque</Name> + <Type>UINT</Type> + <BitSize>16</BitSize> + <Info> + <DefaultData>8813</DefaultData> + </Info> + <Flags> + <Access>rw</Access> + <Category>o</Category> + <PdoMapping>RT</PdoMapping> + </Flags> + </Object> + <Object> + <Index>#x2028</Index> + <Name>Redundancy Enable</Name> + <Type>USINT</Type> + <BitSize>8</BitSize> + <Info> + <DefaultData>00</DefaultData> + </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"> + <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"> + <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>#x2051</Index> + <!--Actual peak torque limit--> + <SubIndex>0</SubIndex> + <BitLen>16</BitLen> + <Name>Actual peak torque limit</Name> + <Comment>object 0x2051:0</Comment> + <DataType>UINT</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"></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> \ No newline at end of file diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg Tue Apr 30 01:39:54 2013 +0200 @@ -0,0 +1,2 @@ +Vendor;product_code;revision_number;pdo_alignment;max_pdo_size;add_pdo +1573;1768449365;3;16;10; diff -r 6963460bfe0f -r f407a0e154c5 ethercat_tests/wago_higen/plc.xml --- a/ethercat_tests/wago_higen/plc.xml Tue Apr 30 01:31:47 2013 +0200 +++ b/ethercat_tests/wago_higen/plc.xml Tue Apr 30 01:39:54 2013 +0200 @@ -1,616 +1,1049 @@ -<?xml version="1.0" encoding="UTF-8"?> -<project xmlns="http://www.plcopen.org/xml/tc6.xsd" - xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd" - xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" - xmlns:xhtml="http://www.w3.org/1999/xhtml"> - <fileHeader companyName="Laurent BESSARD" - productName="test_ethercat" - productVersion="1.0" - creationDateTime="2011-10-20T19:01:52"/> - <contentHeader name="test_ethercat" - modificationDateTime="2012-10-30T00:18:20"> - <coordinateInfo> - <fbd> - <scaling x="0" y="0"/> - </fbd> - <ld> - <scaling x="0" y="0"/> - </ld> - <sfc> - <scaling x="0" y="0"/> - </sfc> - </coordinateInfo> - </contentHeader> - <types> - <dataTypes/> - <pous> - <pou name="Prog" pouType="program"> - <interface> - <localVars> - <variable name="CLOCK" address="%QX0.0.2.28672.1"> - <type> - <BOOL/> - </type> - </variable> - <variable name="GREENLED" address="%QX0.0.2.28688.1"> - <type> - <BOOL/> - </type> - <initialValue> - <simpleValue value="TRUE"/> - </initialValue> - </variable> - <variable name="ControlWord" address="%QW0.0.3.24640.0"> - <type> - <UINT/> - </type> - </variable> - <variable name="StatusWord" address="%IW0.0.3.24641.0"> - <type> - <UINT/> - </type> - </variable> - <variable name="ModeDisplay" address="%IB0.0.3.24673.0"> - <type> - <SINT/> - </type> - </variable> - <variable name="ActualPosition" address="%ID0.0.3.24676.0"> - <type> - <DINT/> - </type> - </variable> - <variable name="TargetPosition" address="%QD0.0.3.24698.0"> - <type> - <DINT/> - </type> - </variable> - </localVars> - </interface> - <body> - <ST> -<![CDATA[CLOCK := NOT CLOCK;]]> - </ST> - </body> - </pou> - <pou name="test_MCL" pouType="program"> - <interface> - <localVars> - <variable name="CLOCK"> - <type> - <UDINT/> - </type> - </variable> - </localVars> - <localVars> - <variable name="Axis" address="%IW0.0.3.0"> - <type> - <derived name="AXIS_REF"/> - </type> - </variable> - </localVars> - <localVars> - <variable name="switch"> - <type> - <derived name="MC_Power"/> - </type> - </variable> - <variable name="move1"> - <type> - <derived name="MC_MoveAbsolute"/> - </type> - </variable> - <variable name="EtherLabSDOUpload0"> - <type> - <derived name="EtherLabSDOUpload"/> - </type> - </variable> - <variable name="ActualPosition"> - <type> - <DINT/> - </type> - </variable> - <variable name="Valid"> - <type> - <BOOL/> - </type> - </variable> - </localVars> - </interface> - <body> - <FBD> - <inVariable localId="1" height="27" width="53"> - <position x="45" y="36"/> - <connectionPointOut> - <relPosition x="53" y="13"/> - </connectionPointOut> - <expression>CLOCK</expression> - </inVariable> - <block localId="2" width="111" height="116" typeName="ADD"> - <position x="149" y="5"/> - <inputVariables> - <variable formalParameter="IN1"> - <connectionPointIn> - <relPosition x="0" y="44"/> - <connection refLocalId="1"> - <position x="149" y="49"/> - <position x="98" y="49"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="IN2"> - <connectionPointIn> - <relPosition x="0" y="92"/> - <connection refLocalId="3"> - <position x="149" y="97"/> - <position x="98" y="97"/> - </connection> - </connectionPointIn> - </variable> - </inputVariables> - <inOutVariables/> - <outputVariables> - <variable formalParameter="OUT"> - <connectionPointOut> - 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<expression>4000</expression> - </inVariable> - <block localId="7" width="99" height="89" typeName="GT"> - <position x="155" y="210"/> - <inputVariables> - <variable formalParameter="IN1"> - <connectionPointIn> - <relPosition x="0" y="37"/> - <connection refLocalId="5"> - <position x="155" y="247"/> - <position x="99" y="247"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="IN2"> - <connectionPointIn> - <relPosition x="0" y="71"/> - <connection refLocalId="6"> - <position x="155" y="281"/> - <position x="99" y="281"/> - </connection> - </connectionPointIn> - </variable> - </inputVariables> - <inOutVariables/> - <outputVariables> - <variable formalParameter="OUT"> - <connectionPointOut> - <relPosition x="99" y="37"/> - </connectionPointOut> - </variable> - </outputVariables> - </block> - <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch"> - <position x="398" y="173"/> - <inputVariables> - <variable 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