# 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 @@ - - - - - - - 00 - 00 - - - - - EK1100 - 0 - 0 - - 2 - 72100946 - 65536 - 0 - - - - 0 - 0 - - - 0 - 0 - - - - - - - - - EL1088 - 1 - 0 - - 2 - 71315538 - 1048576 - 0 - - - - 0 - 0 - - - 0 - 0 - - - - - - - - - EL2088 - 2 - 0 - - 2 - 136851538 - 1048576 - 0 - - - - - EDA7000 CoE Drive - 3 - 0 - - 1573 - 1768449365 - 2 - 0 - - - - 0 - 0 - - - 0 - 0 - - - - - II - Configure limit switches signal - 0 - 0 - 8229 - 0 - 07 - - - II - - 0 - 0 - 24800 - 0 - 05DC - - - II - - 0 - 0 - 24801 - 0 - 05DC - - - - - - - + + + + + + + 00 + 00 + + + + + EK1100 + 0 + 0 + + 2 + 72100946 + 65536 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + + + + + EL1088 + 1 + 0 + + 2 + 71315538 + 1048576 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + + + + + EL2088 + 2 + 0 + + 2 + 136851538 + 1048576 + 0 + + + + + EDA7000 CoE Drive + 3 + 0 + + 1573 + 1768449365 + 3 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + II + Configure limit switches signal + 0 + 0 + 8229 + 0 + 07 + + + II + + 0 + 0 + 24800 + 0 + 05DC + + + II + + 0 + 0 + 24801 + 0 + 05DC + + + + + + + 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 @@ - - + + 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 @@ - - - - - - - + + 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 @@ - - - - #x00000625 - HIGEN Motor Co., Ltd. - 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- - - - - Drive - Drives - DRIVE - - - - - EDA7000 CoE Drive - - http://www.higenmotor.com/info/infodata03.asp?exec=3 - - - - - - Drive - - 402 - - - - BOOL - 1 - - - SINT - 8 - - - USINT - 8 - - - INT - 16 - - - UINT - 16 - - - DINT - 32 - - - UDINT - 32 - - - DT1018 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Vendor ID - UDINT - 32 - 16 - - ro - o - - - - 2 - Product code - UDINT - 32 - 48 - - ro - o - - - - - DT1600 - 208 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - 1 mapping data - UDINT - 32 - 16 - - rw - o - - - - 2 - 2 mapping data - UDINT - 32 - 48 - - rw - o - - - - 3 - 3 mapping data - UDINT - 32 - 80 - - rw - o - - - - 4 - 4 mapping data - UDINT - 32 - 112 - - rw - o - - - - 5 - 5 mapping data - UDINT - 32 - 144 - - rw - o - - - - 6 - 6 mapping data - UDINT - 32 - 176 - - rw - o - - - - - DT1A00 - 176 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - 1 mapping data - UDINT - 32 - 16 - - rw - o - - - - 2 - 2 mapping data - UDINT - 32 - 48 - - rw - o - - - - 3 - 3 mapping data - UDINT - 32 - 80 - - rw - o - - - - 4 - 4 mapping data - UDINT - 32 - 112 - - rw - o - - - - 5 - 5 mapping data - UDINT - 32 - 144 - - rw - o - - - - - DT1A02 - 304 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - 1 mapping data - UDINT - 32 - 16 - - rw - o - - - - 2 - 2 mapping data - UDINT - 32 - 48 - - rw - o - - - - 3 - 3 mapping data - UDINT - 32 - 80 - - rw - o - - - - 4 - 4 mapping data - UDINT - 32 - 112 - - rw - o - - - - 5 - 5 mapping data - UDINT - 32 - 144 - - rw - o - - - - 6 - 6 mapping data - UDINT - 32 - 176 - - rw - o - - - - 7 - 7 mapping data - UDINT - 32 - 208 - - rw - o - - - - 8 - 8 mapping data - UDINT - 32 - 240 - - rw - o - - - - 9 - 9 mapping data - UDINT - 32 - 272 - - rw - o - - - - - DT1C12 - 32 - - 0 - largest sub-index supported - USINT - 8 - 0 - - rw - o - - - - 1 - Assign1 - UINT - 16 - 16 - - rw - o - - - - - DT1C32 - 368 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Sync mode - UINT - 16 - 16 - - ro - 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 - Get cycle time - UDINT - 32 - 176 - - ro - o - - - - 9 - Delay time - UDINT - 32 - 208 - - ro - o - - - - 10 - Sync0 time - UDINT - 32 - 240 - - ro - o - - - - 11 - Cycle exceeded counter - UDINT - 32 - 272 - - ro - o - - - - 12 - SM event missed counter - UDINT - 32 - 304 - - ro - o - - - - 13 - Shift too short counter - UINT - 16 - 336 - - ro - o - - - - 32 - Sync error - UINT - 16 - 352 - - ro - o - RT - - - - - DT607D - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Minimum Software position limit - DINT - 32 - 16 - - rw - o - - - - 2 - Maximum Software position limit - DINT - 32 - 48 - - rw - o - - - - - DT6099 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - - 1 - Speed during search for switch - UDINT - 32 - 16 - - rw - o - - - - 2 - Speed during search for zero - UDINT - 32 - 48 - - rw - o - - - - - DT60FE - 48 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Physical output - UDINT - 32 - 16 - - ro - o - RT - - - - - DT20A2 - 80 - - 0 - largest sub-index supported - USINT - 8 - 0 - - ro - o - - - - 1 - Invalid Frame Counter - UINT - 16 - 16 - - ro - o - - - - 2 - Rx Error Counter - UINT - 16 - 32 - - ro - o - - - - 3 - Lost Link Counter - UINT - 16 - 48 - - ro - o - - - - 4 - Counter Reset - UINT - 16 - 64 - - rw - o - - - - - - - #x2027 - Ripple COMPEN - USINT - 8 - - 00 - - - rw - o - - - - #x1000 - Device type - UDINT - 32 - - 92010200 - - - ro - m - - - - #x1001 - Error register - USINT - 8 - - 00 - - - ro - m - - - - #x1018 - Identity object - DT1018 - 80 - - - largest sub-index supported - - 02 - - - - - Vendor ID - - 00000625 - - - - Product code - - 69686555 - - - - - - ro - m - - - - #x1600 - 1st receive PDO mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1 mapping data - - 10004060 - - - - 2 mapping data - - 20007A60 - - - - 3 mapping data - - 2000FF60 - - - - 4 mapping data - - 10007160 - - - - 5 mapping data - - 08006060 - - - - 6 mapping data - - 08000000 - - - - - rw - o - - - - #x1601 - 2nd receive PDO mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1 mapping data - - 10004060 - - - - 2 mapping data - - 2000FF60 - - - - 3 mapping data - - 1000E060 - - - - 4 mapping data - - 1000E160 - - - - 5 mapping data - - 08060060 - - - - 6 mapping data - - 08000000 - - - - - rw - o - - - - #x1602 - 3rd receive PDO mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1 mapping data - - 10004060 - - - - 2 mapping data - - 20007A60 - - - - 3 mapping data - - 2000FF60 - - - - 4 mapping data - - 1000B860 - - - - 5 mapping data - - 08060060 - - - - 6 mapping data - - 08000000 - - - - - rw - o - - - - #x1A00 - 1st transmit PDO-Mapping - DT1A00 - 176 - - - largest sub-index supported - - 01 - - - - 1 mapping data - - 10004160 - - - - 2 mapping data - - 20006460 - - - - 3 mapping data - - 10007760 - - - - 4 mapping data - - 08006160 - - - - 5 mapping data - - 08000000 - - - - - rw - o - - - - #x1A01 - 2nd transmit PDO-Mapping - DT1600 - 208 - - - largest sub-index supported - - 06 - - - - 1 mapping data - - 10004160 - - - - 2 mapping data - - 20006460 - - - - 3 mapping data - - 20006C60 - - - - 4 mapping data - - 10007760 - - - - 5 mapping data - - 08006160 - - - - 6 mapping data - - 08000000 - - - - - rw - o - - - - #x1A02 - 3rd transmit PDO-Mapping - DT1A02 - 304 - - - largest sub-index supported - - 09 - - - - 1 mapping data - - 10004160 - - - - 2 mapping data - - 20006460 - - - - 3 mapping data - - 20006C60 - - - - 4 mapping data - - 1000B960 - - - - 5 mapping data - - 2000BA60 - - - - 6 mapping data - - 2000BB60 - - - - 7 mapping data - - 2000FD60 - - - - 8 mapping data - - 08006160 - - - - 9 mapping data - - 08000000 - - - - - rw - o - - - - #x1C12 - RxPDO assign - DT1C12 - 32 - - - largest sub-index supported - - 01 - - - - Assign1 - - 0016 - - - - - rw - o - - - - #x1C13 - TxPDO assign - DT1C12 - 32 - - - largest sub-index supported - - 01 - - - - Assign1 - - 001A - - - - - rw - o - - - - #x1C32 - SM output parameter - DT1C32 - 368 - - - largest sub-index supported - - 32 - - - - Sync mode - - 0200 - - - - Cycle time - - 00350C00 - - - - Shift time - - 00000000 - - - - Sync modes supported - - 0500 - - - - Minimum cycle time - - 00350C00 - - - - Calc and copy time - - 50C30000 - - - - Get cycle time - - 00000000 - - - - Delay time - - A0860100 - - - - Sync0 time - - 00000000 - - - - Cycle exceeded counter - - 00000000 - - - - SM event missed counter - - 00000000 - - - - Shift too short counter - - 0000 - - - - Sync error - - 0000 - - - - - rw - o - - - - #x1C33 - SM input parameter - DT1C32 - 368 - - - largest sub-index supported - - 32 - - - - Sync mode - - 0200 - - - - Cycle time - - 00350C00 - - - - Shift time - - 00000000 - - - - Sync modes supported - - 0500 - - - - Minimum cycle time - - 00350C00 - - - - Calc and copy time - - 50C30000 - - - - Get cycle time - - 00000000 - - - - Delay time - - A0860100 - - - - Sync0 time - - 00000000 - - - - Cycle exceeded counter - - 00000000 - - - - SM event missed counter - - 00000000 - - - - Shift too short counter - - 0000 - - - - Sync error - - 0000 - - - - - rw - o - - - - #x2000 - Drive ID (P01-11) - USINT - 8 - - 00 - - - rw - o - - - - #x2001 - Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit] - USINT - 8 - - 09 - - - rw - o - - - - #x2002 - Pulse Out Rate (P01-14) - UDINT - 32 - - 00020000 - - - rw - o - - - - #x2003 - Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15) - UINT - 16 - - 0100 - - - rw - o - - - - #x2004 - ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19) - UINT - 16 - - 0000 - - - rw - o - - - - #x2010 - Mode Change Time (x0.1ms) (P02-02) - UDINT - 32 - - 0000000A - - - rw - o - - - - #x2011 - Internal CCW Speed Limit (x0.1rpm) (P02-05) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2012 - Internal CW Speed Limit (x0.1rpm) (P02-06) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2013 - Brake Speed (x0.1rpm) (P02-07) - UDINT - 32 - - 000001F4 - - - rw - o - - - - #x2014 - Brake Time (x0.1ms) (P02-08) - UDINT - 32 - - 00000032 - - - rw - o - - - - #x2015 - Servo OFF Delay Time (x0.1ms) (P02-30) - UDINT - 32 - - 0000000A - - - rw - o - - - - #x2016 - Notch Filter 1 Mode (P02-10) - USINT - 8 - - 00 - - - rw - o - - - - #x2017 - Notch Filter 1 Frequency (x0.1Hz) (P02-11) - UDINT - 32 - - 00000BB8 - - - rw - o - - - - #x2018 - Notch Filter 1 Bandwidth (x0.1%) (P02-12) - UDINT - 32 - - 000003B6 - - - rw - o - - - - #x2019 - Notch Filter 2 Mode (P02-13) - USINT - 8 - - 00 - - - rw - o - - - - #x201A - Notch Filter 2 Frequency (x0.1Hz) (P02-14) - UDINT - 32 - - 00001388 - - - rw - o - - - - #x201B - Notch Filter 2 Bandwidth (x0.1%) (P02-15) - UDINT - 32 - - 000003B6 - - - rw - o - - - - #x201C - Torque Filter Time Constant (x0.1ms) (P02-16) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x201D - Auto Tuning Mode (P02-17) - USINT - 8 - - 00 - - - rw - o - - - - #x201E - System Response (P02-18) - USINT - 8 - - 00 - - - rw - o - - - - #x201F - Inertia Ratio (x0.1) (P02-19) - UDINT - 32 - - 00000014 - - - rw - o - - - - #x2020 - Gain Adjust Speed 1 (x0.1rpm) (P02-20) - UDINT - 32 - - 00001F40 - - - rw - o - - - - #x2021 - Gain Adjust Speed 2 (x0.1rpm) (P02-21) - UDINT - 32 - - 000003E8 - - - rw - o - - - - #x2022 - Gain Adjust Torque 1 (x0.1%) (P02-22) - UDINT - 32 - - 000005DC - - - rw - o - - - - #x2023 - Gain Adjust Torque 2 (x0.1%) (P02-23) - UDINT - 32 - - 000005DC - - - rw - o - - - - #x2025 - Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW) - UINT - 16 - - 0003 - - - rw - o - - - - #x2026 - Parameter Initialization (P02-29) - USINT - 8 - - 00 - - - rw - o - - - - #x2030 - Speed Gain Mode (P03-01) - USINT - 8 - - 01 - - - rw - o - - - - #x2031 - PI-IP Control Ratio (x0.1%) (P03-02) - UDINT - 32 - - 000003E8 - - - rw - o - - - - #x2032 - Friction Compensation Torque Ratio (x0.1%) (P03-03) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2033 - Load Compensation Torque Ratio (x0.1%) (P03-04) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2034 - Speed Control Loop Gain 1 (x0.1Hz) (P03-05) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2035 - Speed Control Time Constant 1 (x0.1ms) (P03-06) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2036 - Speed Control Loop Gain 2 (x0.1Hz) (P03-07) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2037 - Speed Control Time Constant 2 (x0.1ms) (P03-08) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2038 - S-Mode Time Constant (x0.1ms) (P03-12) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2039 - Zero Velocity Window (x0.1rpm) (P03-14) - UDINT - 32 - - 00000064 - - - rw - o - - - - #x203A - Speed Feedback Time Constant (x0.1ms) (P03-22) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x203B - Zero Velocity Vibration Control (x0.1rpm) (P03-23) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2040 - Position Gain Mode (P05-01) - USINT - 8 - - 01 - - - rw - o - - - - #x2041 - Position Feedforward Ratio (x0.1%) (P05-04) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2042 - Position Control P Gain 1 (x0.1Hz) (P05-05) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2043 - Position Control P Gain 2 (x0.1Hz) (P05-06) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2044 - Position PI-P Pulse Error (ppr) (P05-07) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2045 - Position Command Time Constant (x0.1ms) (P05-10) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2046 - Position Control Feedforward Time Constant (x0.1ms) (P05-11) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2047 - Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20] - UDINT - 32 - - 00000001 - - - rw - o - - - - #x2048 - Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20] - UDINT - 32 - - 00000001 - - - rw - o - - - - #x2049 - Position Control Bias Speed Compensation (x0.1rpm) (P05-20) - DINT - 32 - - 00000000 - - - rw - o - - - - #x204A - Position Control Bias Pulse Band (ppr) (P05-21) - UINT - 16 - - 000A - - - rw - o - - - - #x204B - Position Control Backlash Pulse Compensation (ppr) (P05-22) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2050 - Torque S-Mode Time Constant (x0.1ms) (P06-04) - UDINT - 32 - - 00000000 - - - rw - o - - - - #x2070 - Monitor 1 Select (P09-01) - USINT - 8 - - 00 - - - rw - o - - - - #x2071 - Monitor 1 Absolute (P09-02) - USINT - 8 - - 00 - - - rw - o - - - - #x2072 - Monitor 1 Scale (x0.1) (P09-03) - UDINT - 32 - - 0000000A - - - rw - o - - - - #x2073 - Monitor 1 Offset (mV) (P09-04) - DINT - 32 - - 00000000 - - - rw - o - - - - #x2074 - Monitor 2 Select (P09-05) - USINT - 8 - - 01 - - - rw - o - - - - #x2075 - Monitor 2 Absolute (P09-06) - USINT - 8 - - 00 - - - rw - o - - - - #x2076 - Monitor 2 Scale (x0.1) (P09-07) - UDINT - 32 - - 0000000A - - - rw - o - - - - #x2077 - Monitor 2 Offset (mV) (P09-08) - DINT - 32 - - 00000000 - - - rw - o - - - - #x603F - Error Code - UINT - 16 - - 0000 - - - ro - m - - - - #x6040 - Controlword - UINT - 16 - - 0000 - - - rw - m - R - - - - #x6041 - Statusword - UINT - 16 - - 0000 - - - ro - o - T - - - - #x605A - Quick Stop Option Code - INT - 16 - - 0600 - - - rw - o - - - - #x605C - Disable Operation Option Code - INT - 16 - - 0200 - - - rw - o - - - - #x605E - Fault Reaction Option Code - INT - 16 - - FFFF - - - rw - o - - - - #x6060 - Modes Of Operation - SINT - 8 - - 08 - - - rw - o - R - - - - #x6061 - Modes Of Operation Display - SINT - 8 - - 00 - - - ro - o - T - - - - #x6064 - Position Actual Value - DINT - 32 - - 00000000 - - - rw - o - T - - - - #x6065 - Following Error Window - UDINT - 32 - - 404B4C00 - - - rw - o - R - - - - #x6067 - Position Window - UDINT - 32 - - F4010000 - - - rw - o - - - - #x606C - Velocity Actual Value - DINT - 32 - - 00000000 - - - rw - o - T - - - - #x606D - Velocity Window - UINT - 16 - - 3200 - - - rw - o - - - - #x6071 - Target Torque - INT - 16 - - 0000 - - - rw - o - R - - - - #x6077 - Torque Actual Value - INT - 16 - - 0000 - - - ro - o - T - - - - #x607A - Target Position - DINT - 32 - - 00000000 - - - rw - o - R - - - - #x607C - Home Offset - DINT - 32 - - 00000000 - - - rw - o - R - - - - #x607D - Software Position Limit - DT607D - 80 - - - largest sub-index supported - - 02 - - - - Minimum Software position limit - - 00000080 - - - - Maximum Software position limit - - ffffff7f - - - - - rw - o - - - - #x607E - Polarity - USINT - 8 - - 00 - - - rw - o - - - - #x6083 - Profile Acceleration - UDINT - 32 - - FFFFFFFF - - - rw - o - R - - - - #x6084 - Profile Deceleration - UDINT - 32 - - ffffffff - - - rw - o - R - - - - #x6098 - Homing Method - SINT - 8 - - 00 - - - rw - o - - - - #x6099 - Homing Speeds - DT6099 - 80 - - - largest sub-index supported - - 02 - - - - Speed during search for switch - - 55550300 - - - - Speed during search for zero - - 88080000 - - - - - rw - o - R - - - - #x609A - Homing Acceleration - UDINT - 32 - - ffffffff - - - rw - o - - - - #x60B8 - Touch Probe Fucntion - UINT - 16 - - 0000 - - - ro - o - R - - - - #x60B9 - Touch Probe Status - UINT - 16 - - 0000 - - - rw - o - T - - - - #x60BA - Touch Probe Pos1 Pos Value - DINT - 32 - - 00000000 - - - ro - o - T - - - - #x60BB - Touch Probe Pos1 Neg Value - DINT - 32 - - 00000000 - - - ro - o - T - - - - #x60E0 - Positive Torque Limit - UINT - 16 - - E803 - - - rw - o - R - - - - #x60E1 - Negative Torque Limit - UINT - 16 - - E803 - - - rw - o - R - - - - #x60F4 - Following Error Actual Value - DINT - 32 - - 00000000 - - - ro - o - T - - - - #x60FD - Digital Inputs - UDINT - 32 - - 00000000 - - - ro - o - T - - - - #x60FE - Digital Outputs - DT60FE - 48 - - - largest sub-index supported - - 01 - - - - Physical output - - 00000000 - - - - - rw - o - RT - - - - #x60FF - Target Velocity - DINT - 32 - - 00000000 - - - rw - o - R - - - - #x6502 - Supported Drive Mode - UDINT - 32 - - 000003A0 - - - ro - o - - - - #x20A2 - Communication Error Counter - DT20A2 - 80 - - - largest sub-index supported - - 04 - - - - Invalid Frame Counter - - 0000 - - - - Rx Error Counter - - 0000 - - - - Lost Link Counter - - 0000 - - - - Counter Reset - - 0000 - - - - - rw - o - - - - - - Outputs - Inputs - MBoxOut - MBoxIn - Outputs - Inputs - Drives - - #x1600 - Receive PDO mapping - #x1601 - #x1602 - - #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 - INT - - - #x6060 - - 0 - 8 - Mode of Operation - object 0x6060:0 - SINT - - - 0 - - 0 - 8 - - - - #x1601 - Receive PDO mapping - #x1600 - #x1602 - - #x6040 - - 0 - 16 - Controlword - object 0x6040:0 - UINT - - - #x60FF - - 0 - 32 - Target Velocity - object 0x60FF:0 - DINT - - - #x60E0 - - 0 - 16 - Positive Torque Limit Value - object 0x60E0:0 - UINT - - - #x60E1 - - 0 - 16 - Negative Torque Limit Value - object 0x60E1:0 - UINT - - - #x6060 - - 0 - 8 - Mode of Operation - object 0x6060:0 - SINT - - - 0 - - 0 - 8 - - - - #x1602 - Receive PDO mapping - #x1600 - #x1601 - - #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 - - - #x60B8 - - 0 - 16 - Touch Probe Function - object 0x60B8:0 - UINT - - - #x6060 - - 0 - 8 - Mode of Operation - object 0x6060:0 - SINT - - - 0 - - 0 - 8 - - - - #x1A00 - Transmit PDO mapping - #x1A01 - #x1A02 - - #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 - INT - - - #x6061 - - 0 - 8 - Modes of operation display - object 0x6061:0 - SINT - - - 0 - - 0 - 8 - - - - #x1A01 - Transmit PDO mapping - #x1A00 - #x1A02 - - #x6041 - - 0 - 16 - Statusword - object 0x6041:0 - UINT - - - #x6064 - - 0 - 32 - Position actual value - object 0x6064:0 - DINT - - - #x606C - - 0 - 32 - Actual Velocity - object 0x606C:0 - DINT - - - #x6077 - - 0 - 16 - Torque actual value - object 0x6077:0 - INT - - - #x6061 - - 0 - 8 - Modes of operation display - object 0x6061:0 - SINT - - - 0 - - 0 - 8 - - - - #x1A02 - Transmit PDO mapping - #x1A00 - #x1A01 - - #x6041 - - 0 - 16 - Statusword - object 0x6041:0 - UINT - - - #x6064 - - 0 - 32 - Position actual value - object 0x6064:0 - DINT - - - #x606C - - 0 - 32 - Actual Velocity - object 0x606C:0 - DINT - - - #x60B9 - - 0 - 16 - Touch Probe Status - object 0x60B9:0 - UINT - - - #x60BA - - 0 - 32 - Touch Probe Pos1 Pos Value - object 0x60BA:0 - DINT - - - #x60BB - - 0 - 32 - Touch Probe Pos1 Neg Value - object 0x60BB:0 - DINT - - - #x60FD - - 0 - 32 - Digital Inputs - object 0x60FD:0 - UDINT - - - #x6061 - - 0 - 8 - Modes of operation display - object 0x6061:0 - SINT - - - 0 - - 0 - 8 - - - - - - - - DC - DC-Synchron by Sync0 - #x300 - 0 - 0 - 0 - 0 - - - Free-run - DC unused - #x0000 - - - - 2048 - 080C0244320000000000 - - DRIVE - - - - 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 @@ + + + + #x00000625 + HIGEN Motor Co., Ltd. + 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DRIVE + + + + \ 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 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - CLOCK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - 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