| author | Laurent Bessard |
| Mon, 24 Jun 2013 21:03:22 +0200 | |
| changeset 2154 | 6bbe93799956 |
| parent 2153 | 91c10856adaa |
| child 2155 | d63541200d8e |
--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Mon Jun 24 09:23:28 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Mon Jun 24 21:03:22 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>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> +<?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>
--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Mon Jun 24 09:23:28 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Mon Jun 24 21:03:22 2013 +0200 @@ -1,2 +1,2 @@ -<?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"/> +<?xml version="1.0" encoding="UTF-8"?> +<CIA402SlaveParams HomingMaxTorque="100" DynamicPDOs="false" HomingTorqueLimit="500" EnableDigitalInputs="true" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" LimitSwitchNC="false" HomingLimitWindow="10" HomingVelocity="360" TorqueRatioNumerator="10" TorqueRatioDenominator="1"/>
--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Mon Jun 24 09:23:28 2013 +0200 +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Mon Jun 24 21:03:22 2013 +0200 @@ -1,2 +1,2 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/> +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/>
--- a/ethercat_tests/wago_higen/plc.xml Mon Jun 24 09:23:28 2013 +0200 +++ b/ethercat_tests/wago_higen/plc.xml Mon Jun 24 21:03:22 2013 +0200 @@ -1,1049 +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="2013-04-30T00:35:53"> - <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="Mode" address="%QB0.0.3.24672.0"> - <type> - <SINT/> - </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="ActualVelocity" address="%ID0.0.3.24684.0"> - <type> - <DINT/> - </type> - </variable> - <variable name="TargetPosition" address="%QD0.0.3.24698.0"> - <type> - <DINT/> - </type> - </variable> - <variable name="TargetVelocity" address="%QD0.0.3.24831.0"> - <type> - <DINT/> - </type> - </variable> - <variable name="DigitalInputs" address="%ID0.0.3.24829.0"> - <type> - <UDINT/> - </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="ActualPosition"> - <type> - <DINT/> - </type> - </variable> - <variable name="Valid"> - <type> - <BOOL/> - </type> - </variable> - <variable name="Pn"> - <type> - <LREAL/> - </type> - </variable> - <variable name="Vn"> - <type> - <LREAL/> - </type> - </variable> - <variable name="MC_MoveVelocity0"> - <type> - <derived name="MC_MoveVelocity"/> - </type> - </variable> - <variable name="MC_MoveAbsolute0"> - <type> - <derived name="MC_MoveAbsolute"/> - </type> - </variable> - <variable name="readpos"> - <type> - <derived name="MC_ReadActualPosition"/> - </type> - </variable> - <variable name="readspeed"> - <type> - <derived name="MC_ReadParameter"/> - </type> - </variable> - <variable name="MC_SetPosition0"> - <type> - <derived name="MC_SetPosition"/> - </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> - <relPosition x="111" y="44"/> - </connectionPointOut> - </variable> - </outputVariables> - </block> - <inVariable localId="3" height="27" width="18"> - <position x="80" y="84"/> - <connectionPointOut> - <relPosition x="18" y="13"/> - </connectionPointOut> - <expression>1</expression> - </inVariable> - <outVariable localId="4" height="27" width="53"> - <position x="302" y="36"/> - <connectionPointIn> - <relPosition x="0" y="13"/> - <connection refLocalId="2" formalParameter="OUT"> - <position x="302" y="49"/> - <position x="260" y="49"/> - </connection> - </connectionPointIn> - <expression>CLOCK</expression> - </outVariable> - <inVariable localId="5" height="27" width="53"> - <position x="46" y="234"/> - <connectionPointOut> - <relPosition x="53" y="13"/> - </connectionPointOut> - <expression>CLOCK</expression> - </inVariable> - <inVariable localId="6" height="27" width="50"> - <position x="49" y="268"/> - <connectionPointOut> - <relPosition x="50" y="13"/> - </connectionPointOut> - <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="356" y="173"/> - <inputVariables> - <variable formalParameter="Axis"> - <connectionPointIn> - <relPosition x="0" y="38"/> - <connection refLocalId="9"> - <position x="356" y="211"/> - <position x="324" y="211"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Enable"> - <connectionPointIn> - <relPosition x="0" y="74"/> - <connection refLocalId="7" formalParameter="OUT"> - <position x="356" y="247"/> - <position x="254" y="247"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="EnablePositive"> - <connectionPointIn> - <relPosition x="0" y="110"/> - </connectionPointIn> - </variable> - <variable formalParameter="EnableNegative"> - <connectionPointIn> - <relPosition x="0" y="146"/> - </connectionPointIn> - </variable> - </inputVariables> - <inOutVariables/> - <outputVariables> - <variable formalParameter="Axis"> - <connectionPointOut> - <relPosition x="159" y="38"/> - </connectionPointOut> - </variable> - <variable formalParameter="Status"> - <connectionPointOut> - <relPosition x="159" y="74"/> - </connectionPointOut> - </variable> - <variable formalParameter="Valid"> - <connectionPointOut> - <relPosition x="159" y="110"/> - </connectionPointOut> - </variable> - <variable formalParameter="Error"> - <connectionPointOut> - <relPosition x="159" y="146"/> - </connectionPointOut> - </variable> - <variable formalParameter="ErrorID"> - <connectionPointOut> - <relPosition x="159" y="182"/> - </connectionPointOut> - </variable> - </outputVariables> - </block> - <inVariable localId="9" height="27" width="36"> - <position x="288" y="198"/> - <connectionPointOut> - <relPosition x="36" y="13"/> - </connectionPointOut> - <expression>Axis</expression> - </inVariable> - <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1"> - <position x="992" y="173"/> - <inputVariables> - <variable formalParameter="Axis"> - <connectionPointIn> - <relPosition x="0" y="38"/> - <connection refLocalId="42" formalParameter="Axis"> - <position x="992" y="211"/> - <position x="853" y="211"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Execute"> - <connectionPointIn> - <relPosition x="0" y="74"/> - <connection refLocalId="42" formalParameter="Done"> - <position x="992" y="247"/> - <position x="853" y="247"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="ContinuousUpdate"> - <connectionPointIn> - <relPosition x="0" y="110"/> - </connectionPointIn> - </variable> - <variable formalParameter="Position"> - <connectionPointIn> - <relPosition x="0" y="146"/> - <connection refLocalId="11"> - <position x="992" y="319"/> - <position x="920" y="319"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Velocity"> - <connectionPointIn> - <relPosition x="0" y="182"/> - <connection refLocalId="12"> - <position x="992" y="355"/> - <position x="919" y="355"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Acceleration"> - <connectionPointIn> - <relPosition x="0" y="218"/> - <connection refLocalId="12"> - <position x="992" y="391"/> - <position x="955" y="391"/> - <position x="955" y="355"/> - <position x="919" y="355"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Deceleration"> - <connectionPointIn> - <relPosition x="0" y="254"/> - <connection refLocalId="12"> - <position x="992" y="427"/> - <position x="955" y="427"/> - <position x="955" y="355"/> - <position x="919" y="355"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Jerk"> - <connectionPointIn> - <relPosition x="0" y="290"/> - </connectionPointIn> - </variable> - <variable formalParameter="Direction"> - <connectionPointIn> - <relPosition x="0" y="326"/> - </connectionPointIn> - </variable> - <variable formalParameter="BufferMode"> - <connectionPointIn> - <relPosition x="0" y="362"/> - </connectionPointIn> - </variable> - </inputVariables> - <inOutVariables/> - <outputVariables> - <variable formalParameter="Axis"> - <connectionPointOut> - <relPosition x="252" y="38"/> - </connectionPointOut> - </variable> - <variable formalParameter="Done"> - <connectionPointOut> - <relPosition x="252" y="74"/> - </connectionPointOut> - </variable> - <variable formalParameter="Busy"> - <connectionPointOut> - <relPosition x="252" y="110"/> - </connectionPointOut> - </variable> - <variable formalParameter="Active"> - <connectionPointOut> - <relPosition x="252" y="146"/> - </connectionPointOut> - </variable> - <variable formalParameter="CommandAborted"> - <connectionPointOut> - <relPosition x="252" y="182"/> - </connectionPointOut> - </variable> - <variable formalParameter="Error"> - <connectionPointOut> - <relPosition x="252" y="218"/> - </connectionPointOut> - </variable> - <variable formalParameter="ErrorID"> - <connectionPointOut> - <relPosition x="252" y="254"/> - </connectionPointOut> - </variable> - </outputVariables> - </block> - <inVariable localId="11" height="27" width="54"> - <position x="878" y="306"/> - <connectionPointOut> - <relPosition x="54" y="13"/> - </connectionPointOut> - <expression>1800.0</expression> - </inVariable> - <inVariable localId="12" height="27" width="46"> - <position x="885" y="342"/> - <connectionPointOut> - <relPosition x="46" y="13"/> - </connectionPointOut> - <expression>360.0</expression> - </inVariable> - <block localId="23" width="255" height="352" typeName="MC_MoveVelocity" instanceName="MC_MoveVelocity0"> - <position x="1418" y="173"/> - <inputVariables> - <variable formalParameter="Axis"> - <connectionPointIn> - <relPosition x="0" y="38"/> - <connection refLocalId="10" formalParameter="Axis"> - <position x="1418" y="211"/> - <position x="1244" y="211"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Execute"> - <connectionPointIn> - <relPosition x="0" y="74"/> - <connection refLocalId="10" formalParameter="Done"> - <position x="1418" y="247"/> - <position x="1244" y="247"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="ContinuousUpdate"> - <connectionPointIn> - <relPosition x="0" y="110"/> - </connectionPointIn> - </variable> - <variable formalParameter="Velocity"> - <connectionPointIn> - <relPosition x="0" y="146"/> - <connection refLocalId="24"> - <position x="1418" y="319"/> - <position x="1349" y="319"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Acceleration"> - <connectionPointIn> - <relPosition x="0" y="182"/> - <connection refLocalId="13"> - <position x="1418" y="355"/> - <position x="1349" y="355"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Deceleration"> - <connectionPointIn> - <relPosition x="0" y="218"/> - <connection refLocalId="13"> - <position x="1418" y="391"/> - <position x="1383" y="391"/> - <position x="1383" y="355"/> - <position x="1349" y="355"/> - </connection> - </connectionPointIn> - </variable> - <variable formalParameter="Jerk"> - <connectionPointIn> - <relPosition x="0" y="254"/> - </connectionPointIn> - </variable> - <variable formalParameter="Direction"> - <connectionPointIn> - <relPosition x="0" y="290"/> - </connectionPointIn> - </variable> - <variable formalParameter="BufferMode"> - <connectionPointIn> - <relPosition x="0" y="326"/> - </connectionPointIn> - </variable> - </inputVariables> - <inOutVariables/> - <outputVariables> - <variable formalParameter="Axis"> - <connectionPointOut> - <relPosition x="255" y="38"/> - </connectionPointOut> - </variable> - <variable formalParameter="InVelocity"> - <connectionPointOut> - <relPosition x="255" y="74"/> - </connectionPointOut> - </variable> - <variable formalParameter="Busy"> - <connectionPointOut> - <relPosition x="255" y="110"/> - </connectionPointOut> - </variable> - <variable formalParameter="Active"> - <connectionPointOut> - <relPosition x="255" y="146"/> - </connectionPointOut> - </variable> - <variable formalParameter="CommandAborted"> - <connectionPointOut> - <relPosition x="255" y="182"/> - </connectionPointOut> - </variable> - <variable formalParameter="Error"> - <connectionPointOut> - <relPosition x="255" y="218"/> - </connectionPointOut> - </variable> - <variable formalParameter="ErrorID"> - <connectionPointOut> - <relPosition x="255" y="254"/> - </connectionPointOut> - </variable> - </outputVariables> - </block> - <inVariable localId="13" height="27" width="46"> - <position x="1303" y="342"/> - <connectionPointOut> - <relPosition x="46" 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instanceName="MC_MoveAbsolute0"> + <position x="1862" y="175"/> + <inputVariables> + <variable formalParameter="Axis"> + <connectionPointIn> + <relPosition x="0" y="36"/> + <connection refLocalId="23" formalParameter="Axis"> + <position x="1862" y="211"/> + <position x="1673" y="211"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Execute"> + <connectionPointIn> + <relPosition x="0" y="69"/> + <connection refLocalId="26" formalParameter="OUT"> + <position x="1862" y="244"/> + <position x="1825" y="244"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="ContinuousUpdate"> + <connectionPointIn> + <relPosition x="0" y="102"/> + </connectionPointIn> + </variable> + <variable formalParameter="Position"> + <connectionPointIn> + <relPosition x="0" y="135"/> + <connection refLocalId="40"> + <position x="1862" y="310"/> + <position x="1809" y="310"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Velocity"> + <connectionPointIn> + <relPosition x="0" y="168"/> + <connection refLocalId="37"> + <position x="1862" y="343"/> + <position x="1808" y="343"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Acceleration"> + <connectionPointIn> + <relPosition x="0" y="201"/> + <connection refLocalId="37"> + <position x="1862" y="376"/> + <position x="1818" y="376"/> + <position x="1818" y="343"/> + <position x="1808" y="343"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Deceleration"> + <connectionPointIn> + <relPosition x="0" y="234"/> + <connection refLocalId="37"> + <position x="1862" y="409"/> + <position x="1818" y="409"/> + <position x="1818" y="343"/> + <position x="1808" y="343"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Jerk"> + <connectionPointIn> + <relPosition x="0" y="267"/> + </connectionPointIn> + </variable> + <variable formalParameter="Direction"> + <connectionPointIn> + <relPosition x="0" y="300"/> + </connectionPointIn> + </variable> + <variable formalParameter="BufferMode"> + <connectionPointIn> + <relPosition x="0" y="333"/> + </connectionPointIn> + </variable> + </inputVariables> + <inOutVariables/> + <outputVariables> + <variable formalParameter="Axis"> + <connectionPointOut> + <relPosition x="235" y="36"/> + </connectionPointOut> + </variable> + <variable formalParameter="Done"> + <connectionPointOut> + <relPosition x="235" y="69"/> + </connectionPointOut> + </variable> + <variable formalParameter="Busy"> + <connectionPointOut> + <relPosition x="235" y="102"/> + </connectionPointOut> + </variable> + <variable formalParameter="Active"> + <connectionPointOut> + <relPosition x="235" y="135"/> + </connectionPointOut> + </variable> + <variable formalParameter="CommandAborted"> + <connectionPointOut> + <relPosition x="235" y="168"/> + </connectionPointOut> + </variable> + <variable formalParameter="Error"> + <connectionPointOut> + <relPosition x="235" y="201"/> + </connectionPointOut> + </variable> + <variable formalParameter="ErrorID"> + <connectionPointOut> + <relPosition x="235" y="234"/> + </connectionPointOut> + </variable> + </outputVariables> + </block> + <block localId="26" width="53" height="63" typeName="LT"> + <position x="1772" y="214"/> + <inputVariables> + <variable formalParameter="IN1"> + <connectionPointIn> + <relPosition x="0" y="30"/> + <connection refLocalId="36"> + <position x="1772" y="244"/> + <position x="1752" y="244"/> + <position x="1752" y="237"/> + <position x="1741" y="237"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="IN2"> + <connectionPointIn> + <relPosition x="0" y="51"/> + <connection refLocalId="35"> + <position x="1772" y="265"/> + <position x="1741" y="265"/> + </connection> + </connectionPointIn> + </variable> + </inputVariables> + <inOutVariables/> + <outputVariables> + <variable formalParameter="OUT"> + <connectionPointOut> + <relPosition x="53" y="30"/> + </connectionPointOut> + </variable> + </outputVariables> + </block> + <block localId="28" width="176" height="248" typeName="MC_ReadActualPosition" instanceName="readpos"> + <position x="237" y="606"/> + <inputVariables> + <variable formalParameter="Axis"> + <connectionPointIn> + <relPosition x="0" y="40"/> + <connection refLocalId="31"> + <position x="237" y="646"/> + <position x="109" y="646"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Enable"> + <connectionPointIn> + <relPosition x="0" y="80"/> + <connection refLocalId="29"> + <position x="237" y="686"/> + <position x="165" y="686"/> + </connection> + </connectionPointIn> + </variable> + </inputVariables> + <inOutVariables/> + <outputVariables> + <variable formalParameter="Axis"> + <connectionPointOut> + <relPosition x="176" y="40"/> + </connectionPointOut> + </variable> + <variable formalParameter="Valid"> + <connectionPointOut> + <relPosition x="176" y="80"/> + </connectionPointOut> + </variable> + <variable formalParameter="Busy"> + <connectionPointOut> + <relPosition x="176" y="112"/> + </connectionPointOut> + </variable> + <variable formalParameter="Error"> + <connectionPointOut> + <relPosition x="176" y="152"/> + </connectionPointOut> + </variable> + <variable formalParameter="ErrorID"> + <connectionPointOut> + <relPosition x="176" y="192"/> + </connectionPointOut> + </variable> + <variable formalParameter="Position"> + <connectionPointOut> + <relPosition x="176" y="232"/> + </connectionPointOut> + </variable> + </outputVariables> + </block> + <inVariable localId="29" height="32" width="96"> + <position x="69" y="670"/> + <connectionPointOut> + <relPosition x="96" y="16"/> + </connectionPointOut> + <expression>BOOL#TRUE</expression> + </inVariable> + <outVariable localId="30" height="32" width="32"> + <position x="437" y="822"/> + <connectionPointIn> + <relPosition x="0" y="16"/> + <connection refLocalId="28" formalParameter="Position"> + <position x="437" y="838"/> + <position x="413" y="838"/> + </connection> + </connectionPointIn> + <expression>Pn</expression> + </outVariable> + <inVariable localId="31" height="32" width="40"> + <position x="69" y="630"/> + <connectionPointOut> + <relPosition x="40" y="16"/> + </connectionPointOut> + <expression>Axis</expression> + </inVariable> + <block localId="32" width="192" height="248" typeName="MC_ReadParameter" instanceName="readspeed"> + <position x="613" y="606"/> + <inputVariables> + <variable formalParameter="Axis"> + <connectionPointIn> + <relPosition x="0" y="40"/> + <connection refLocalId="28" formalParameter="Axis"> + <position x="613" y="646"/> + <position x="413" y="646"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Enable"> + <connectionPointIn> + <relPosition x="0" y="80"/> + <connection refLocalId="34"> + <position x="613" y="686"/> + <position x="597" y="686"/> + <position x="597" y="679"/> + <position x="581" y="679"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="ParameterNumber"> + <connectionPointIn> + <relPosition x="0" y="112"/> + <connection refLocalId="33"> + <position x="613" y="718"/> + <position x="581" y="718"/> + </connection> + </connectionPointIn> + </variable> + </inputVariables> + <inOutVariables/> + <outputVariables> + <variable formalParameter="Axis"> + <connectionPointOut> + <relPosition x="192" y="40"/> + </connectionPointOut> + </variable> + <variable formalParameter="Valid"> + <connectionPointOut> + <relPosition x="192" y="80"/> + </connectionPointOut> + </variable> + <variable formalParameter="Busy"> + <connectionPointOut> + <relPosition x="192" y="112"/> + </connectionPointOut> + </variable> + <variable formalParameter="Error"> + <connectionPointOut> + <relPosition x="192" y="152"/> + </connectionPointOut> + </variable> + <variable formalParameter="ErrorID"> + <connectionPointOut> + <relPosition x="192" y="192"/> + </connectionPointOut> + </variable> + <variable formalParameter="Value"> + <connectionPointOut> + <relPosition x="192" y="232"/> + </connectionPointOut> + </variable> + </outputVariables> + </block> + <inVariable localId="33" height="32" width="32"> + <position x="549" y="702"/> + <connectionPointOut> + <relPosition x="32" y="16"/> + </connectionPointOut> + <expression>10</expression> + </inVariable> + <inVariable localId="34" height="32" width="96"> + <position x="485" y="663"/> + <connectionPointOut> + <relPosition x="96" y="16"/> + </connectionPointOut> + <expression>BOOL#TRUE</expression> + </inVariable> + <outVariable localId="27" height="32" width="32"> + <position x="837" y="822"/> + <connectionPointIn> + <relPosition x="0" y="16"/> + <connection refLocalId="32" formalParameter="Value"> + <position x="837" y="838"/> + <position x="805" y="838"/> + </connection> + </connectionPointIn> + <expression>Vn</expression> + </outVariable> + <inVariable localId="35" height="27" width="48"> + <position x="1693" y="252"/> + <connectionPointOut> + <relPosition x="48" y="13"/> + </connectionPointOut> + <expression>-1800.0</expression> + </inVariable> + <inVariable localId="36" height="23" width="22"> + <position x="1719" y="226"/> + <connectionPointOut> + <relPosition x="22" y="11"/> + </connectionPointOut> + <expression>Pn</expression> + </inVariable> + <inVariable localId="37" height="27" width="46"> + <position x="1762" y="330"/> + <connectionPointOut> + <relPosition x="46" y="13"/> + </connectionPointOut> + <expression>360.0</expression> + </inVariable> + <inVariable localId="40" height="27" width="46"> + <position x="1763" y="297"/> + <connectionPointOut> + <relPosition x="46" y="13"/> + </connectionPointOut> + <expression>0.0</expression> + </inVariable> + <block localId="42" width="189" height="204" typeName="MC_SetPosition" instanceName="MC_SetPosition0"> + <position x="664" y="173"/> + <inputVariables> + <variable formalParameter="Axis"> + <connectionPointIn> + <relPosition x="0" y="38"/> + <connection refLocalId="8" formalParameter="Axis"> + <position x="664" y="211"/> + <position x="515" y="211"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Execute"> + <connectionPointIn> + <relPosition x="0" y="74"/> + <connection refLocalId="8" formalParameter="Status"> + <position x="664" y="247"/> + <position x="515" y="247"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Position"> + <connectionPointIn> + <relPosition x="0" y="110"/> + <connection refLocalId="43"> + <position x="664" y="283"/> + <position x="629" y="283"/> + </connection> + </connectionPointIn> + </variable> + <variable formalParameter="Relative"> + <connectionPointIn> + <relPosition x="0" y="146"/> + </connectionPointIn> + </variable> + <variable formalParameter="ExecutionMode"> + <connectionPointIn> + <relPosition x="0" y="182"/> + </connectionPointIn> + </variable> + </inputVariables> + <inOutVariables/> + <outputVariables> + <variable formalParameter="Axis"> + <connectionPointOut> + <relPosition x="189" y="38"/> + </connectionPointOut> + </variable> + <variable formalParameter="Done"> + <connectionPointOut> + <relPosition x="189" y="74"/> + </connectionPointOut> + </variable> + <variable formalParameter="Busy"> + <connectionPointOut> + <relPosition x="189" y="110"/> + </connectionPointOut> + </variable> + <variable formalParameter="Error"> + <connectionPointOut> + <relPosition x="189" y="146"/> + </connectionPointOut> + </variable> + <variable formalParameter="ErrorID"> + <connectionPointOut> + <relPosition x="189" y="182"/> + </connectionPointOut> + </variable> + </outputVariables> + </block> + <inVariable localId="43" height="27" width="54"> + <position x="575" y="270"/> + <connectionPointOut> + <relPosition x="54" y="13"/> + </connectionPointOut> + <expression>0.0</expression> + </inVariable> + </FBD> + </body> + </pou> + </pous> + </types> + <instances> + <configurations> + <configuration name="conf"> + <resource name="res"> + <task name="main_task" interval="T#0.5ms" priority="0"> + <pouInstance name="main_instance" typeName="Prog"/> + <pouInstance name="test_MCL_instance" typeName="test_MCL"/> + </task> + </resource> + </configuration> + </configurations> + </instances> +</project>
--- a/etherlab/EthercatCIA402Slave.py Mon Jun 24 09:23:28 2013 +0200 +++ b/etherlab/EthercatCIA402Slave.py Mon Jun 24 21:03:22 2013 +0200 @@ -105,6 +105,11 @@ "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), "method" : "_getCIA402AxisRef", "push": True}, + {"bitmap" : "CIA402NetPos", + "name" : _("Axis Pos"), + "tooltip" : _("Initiate Drag'n drop of Network position located variable"), + "method" : "_getCIA402NetworkPosition", + "push": True}, ] #-------------------------------------------------- @@ -128,12 +133,20 @@ def GetVariableLocationTree(self): axis_name = self.CTNName() current_location = self.GetCurrentLocation() - children = [{"name": "%s Axis Ref" % (axis_name), + children = [{"name": "%s Network Position" % (axis_name), + "type": LOCATION_VAR_INPUT, + "size": "W", + "IEC_type": "UINT", + "var_name": axis_name, + "location": "%%IW%s" % (".".join(map(str, current_location))), + "description": "", + "children": []}, + {"name": "%s Axis Ref" % (axis_name), "type": LOCATION_VAR_INPUT, "size": "W", "IEC_type": "AXIS_REF", "var_name": axis_name, - "location": "%%IW%s.0" % (".".join(map(str, current_location))), + "location": "%%IW%s.402" % (".".join(map(str, current_location))), "description": "", "children": []}] children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name)) @@ -150,14 +163,22 @@ "EtherLab%s" % block_infos["blocktype"], "") for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES] + def StartDragNDrop(self, data): + data_obj = wx.TextDataObject(str(data)) + dragSource = wx.DropSource(self.GetCTRoot().AppFrame) + dragSource.SetData(data_obj) + dragSource.DoDragDrop() + + def _getCIA402NetworkPosition(self): + self.StartDragNDrop( + ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), + "location", "UINT", self.CTNName() + "_Pos", "")) + def _getCIA402AxisRef(self): - data = wx.TextDataObject(str( - ("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), - "location", "AXIS_REF", self.CTNName(), ""))) - dragSource = wx.DropSource(self.GetCTRoot().AppFrame) - dragSource.SetData(data) - dragSource.DoDragDrop() - + self.StartDragNDrop( + ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), + "location", "AXIS_REF", self.CTNName(), "")) + def CTNGenerate_C(self, buildpath, locations): current_location = self.GetCurrentLocation()
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--- a/etherlab/plc_cia402node.c Mon Jun 24 09:23:28 2013 +0200 +++ b/etherlab/plc_cia402node.c Mon Jun 24 21:03:22 2013 +0200 @@ -56,8 +56,10 @@ #define Halt 0x0100 -IEC_INT beremiz__IW%(location_str)s_0; -IEC_INT *__IW%(location_str)s_0 = &beremiz__IW%(location_str)s_0; +IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s; +IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s; +IEC_INT beremiz__IW%(location_str)s_402; +IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402; %(MCL_headers)s @@ -91,10 +93,10 @@ void __retrieve_%(location_str)s() { if (__FirstTick) { - *__IW%(location_str)s_0 = __MK_Alloc_AXIS_REF(); + *__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF(); AxsPub.axis = - __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_0); - AxsPub.axis->NetworkPosition = %(slave_pos)d; + __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402); + AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s; %(init_axis_params)s %(fieldbus_interface_definition)s __FirstTick = 0;
