--- 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>
--- 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"/>
--- 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"/>
--- 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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- <Category>o</Category>
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- <Name>Vendor ID</Name>
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- <BitSize>32</BitSize>
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- <BitSize>32</BitSize>
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- <Object>
- <Index>#x605E</Index>
- <Name>Fault Reaction Option Code</Name>
- <Type>INT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>FFFF</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x6060</Index>
- <Name>Modes Of Operation</Name>
- <Type>SINT</Type>
- <BitSize>8</BitSize>
- <Info>
- <DefaultData>08</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6061</Index>
- <Name>Modes Of Operation Display</Name>
- <Type>SINT</Type>
- <BitSize>8</BitSize>
- <Info>
- <DefaultData>00</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6064</Index>
- <Name>Position Actual Value</Name>
- <Type>DINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6065</Index>
- <Name>Following Error Window</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>404B4C00</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6067</Index>
- <Name>Position Window</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>F4010000</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x606C</Index>
- <Name>Velocity Actual Value</Name>
- <Type>DINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x606D</Index>
- <Name> Velocity Window</Name>
- <Type>UINT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>3200</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x6071</Index>
- <Name>Target Torque</Name>
- <Type>INT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>0000</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6077</Index>
- <Name>Torque Actual Value</Name>
- <Type>INT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>0000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x607A</Index>
- <Name>Target Position</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>#x607C</Index>
- <Name>Home Offset</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>#x607D</Index>
- <Name>Software Position Limit</Name>
- <Type>DT607D</Type>
- <BitSize>80</BitSize>
- <Info>
- <SubItem>
- <Name>largest sub-index supported</Name>
- <Info>
- <DefaultData>02</DefaultData>
- </Info>
- </SubItem>
- <SubItem>
- <Name>Minimum Software position limit</Name>
- <Info>
- <DefaultData>00000080</DefaultData>
- </Info>
- </SubItem>
- <SubItem>
- <Name>Maximum Software position limit</Name>
- <Info>
- <DefaultData>ffffff7f</DefaultData>
- </Info>
- </SubItem>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x607E</Index>
- <Name>Polarity</Name>
- <Type>USINT</Type>
- <BitSize>8</BitSize>
- <Info>
- <DefaultData>00</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x6083</Index>
- <Name>Profile Acceleration</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>FFFFFFFF</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6084</Index>
- <Name>Profile Deceleration</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>ffffffff</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x6098</Index>
- <Name>Homing Method</Name>
- <Type>SINT</Type>
- <BitSize>8</BitSize>
- <Info>
- <DefaultData>00</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x6099</Index>
- <Name>Homing Speeds</Name>
- <Type>DT6099</Type>
- <BitSize>80</BitSize>
- <Info>
- <SubItem>
- <Name>largest sub-index supported</Name>
- <Info>
- <DefaultData>02</DefaultData>
- </Info>
- </SubItem>
- <SubItem>
- <Name>Speed during search for switch</Name>
- <Info>
- <DefaultData>55550300</DefaultData>
- </Info>
- </SubItem>
- <SubItem>
- <Name>Speed during search for zero</Name>
- <Info>
- <DefaultData>88080000</DefaultData>
- </Info>
- </SubItem>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x609A</Index>
- <Name>Homing Acceleration</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>ffffffff</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- </Flags>
- </Object>
- <Object>
- <Index>#x60B8</Index>
- <Name>Touch Probe Fucntion</Name>
- <Type>UINT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>0000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60B9</Index>
- <Name>Touch Probe Status</Name>
- <Type>UINT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>0000</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60BA</Index>
- <Name>Touch Probe Pos1 Pos Value</Name>
- <Type>DINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60BB</Index>
- <Name>Touch Probe Pos1 Neg Value</Name>
- <Type>DINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60E0</Index>
- <Name>Positive Torque Limit</Name>
- <Type>UINT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>E803</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60E1</Index>
- <Name>Negative Torque Limit</Name>
- <Type>UINT</Type>
- <BitSize>16</BitSize>
- <Info>
- <DefaultData>E803</DefaultData>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>R</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60F4</Index>
- <Name>Following Error Actual Value</Name>
- <Type>DINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60FD</Index>
- <Name>Digital Inputs</Name>
- <Type>UDINT</Type>
- <BitSize>32</BitSize>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- <Flags>
- <Access>ro</Access>
- <Category>o</Category>
- <PdoMapping>T</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60FE</Index>
- <Name>Digital Outputs</Name>
- <Type>DT60FE</Type>
- <BitSize>48</BitSize>
- <Info>
- <SubItem>
- <Name>largest sub-index supported</Name>
- <Info>
- <DefaultData>01</DefaultData>
- </Info>
- </SubItem>
- <SubItem>
- <Name>Physical output</Name>
- <Info>
- <DefaultData>00000000</DefaultData>
- </Info>
- </SubItem>
- </Info>
- <Flags>
- <Access>rw</Access>
- <Category>o</Category>
- <PdoMapping>RT</PdoMapping>
- </Flags>
- </Object>
- <Object>
- <Index>#x60FF</Index>
- <Name>Target 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>#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>
- </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" Fixed="1">
- <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" Fixed="1">
- <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>#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"/>
- </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>
--- /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>
+ <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="#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>
+ <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>
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+ <SubIdx>4</SubIdx>
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+ <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>384</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>
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+ <Name>Shift time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>4</SubIdx>
+ <Name>Sync modes supported</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
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+ <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>
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+ <Name>Calc and copy time</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
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+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>10</SubIdx>
+ <Name>Sync0 time</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>Cycle exceeded counter</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>12</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT607D</Name>
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+ <SubIdx>0</SubIdx>
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+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Minimum Software position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum Software position limit</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6099</Name>
+ <BitSize>80</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Speed during search for switch</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Speed during search for zero</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT60FE</Name>
+ <BitSize>48</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>Physical output</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT20A0</Name>
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+ <Name>largest sub-index supported</Name>
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+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Alarm history 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Alarm history 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <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
--- /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;
--- 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>
- <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="398" y="173"/>
- <inputVariables>
- <variable formalParameter="Axis">
- <connectionPointIn>
- <relPosition x="0" y="38"/>
- <connection refLocalId="9">
- <position x="398" y="211"/>
- <position x="344" y="211"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="Enable">
- <connectionPointIn>
- <relPosition x="0" y="74"/>
- <connection refLocalId="7" formalParameter="OUT">
- <position x="398" 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="308" 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="744" y="173"/>
- <inputVariables>
- <variable formalParameter="Axis">
- <connectionPointIn>
- <relPosition x="0" y="38"/>
- <connection refLocalId="8" formalParameter="Axis">
- <position x="744" y="211"/>
- <position x="557" y="211"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="Execute">
- <connectionPointIn>
- <relPosition x="0" y="74"/>
- <connection refLocalId="8" formalParameter="Status">
- <position x="744" y="247"/>
- <position x="557" 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="744" y="319"/>
- <position x="672" y="319"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="Velocity">
- <connectionPointIn>
- <relPosition x="0" y="182"/>
- <connection refLocalId="12">
- <position x="744" y="355"/>
- <position x="671" y="355"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="Acceleration">
- <connectionPointIn>
- <relPosition x="0" y="218"/>
- <connection refLocalId="12">
- <position x="744" y="391"/>
- <position x="707" y="391"/>
- <position x="707" y="355"/>
- <position x="671" y="355"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="Deceleration">
- <connectionPointIn>
- <relPosition x="0" y="254"/>
- <connection refLocalId="12">
- <position x="744" y="427"/>
- <position x="707" y="427"/>
- <position x="707" y="355"/>
- <position x="671" 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="630" y="306"/>
- <connectionPointOut>
- <relPosition x="54" y="13"/>
- </connectionPointOut>
- <expression>1800.0</expression>
- </inVariable>
- <inVariable localId="12" height="27" width="46">
- <position x="637" y="342"/>
- <connectionPointOut>
- <relPosition x="46" y="13"/>
- </connectionPointOut>
- <expression>360.0</expression>
- </inVariable>
- <block localId="14" width="162" height="216" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
- <position x="1207" y="208"/>
- <inputVariables>
- <variable formalParameter="EXECUTE">
- <connectionPointIn>
- <relPosition x="0" y="39"/>
- <connection refLocalId="10" formalParameter="Done">
- <position x="1207" y="247"/>
- <position x="996" y="247"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="POS">
- <connectionPointIn>
- <relPosition x="0" y="78"/>
- <connection refLocalId="15">
- <position x="1207" y="286"/>
- <position x="1156" y="286"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="INDEX">
- <connectionPointIn>
- <relPosition x="0" y="117"/>
- <connection refLocalId="16">
- <position x="1207" y="325"/>
- <position x="1156" y="325"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="SUBINDEX">
- <connectionPointIn>
- <relPosition x="0" y="156"/>
- <connection refLocalId="17">
- <position x="1207" y="364"/>
- <position x="1156" y="364"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="VARTYPE">
- <connectionPointIn>
- <relPosition x="0" y="195"/>
- <connection refLocalId="18">
- <position x="1207" y="403"/>
- <position x="1156" y="403"/>
- </connection>
- </connectionPointIn>
- </variable>
- </inputVariables>
- <inOutVariables/>
- <outputVariables>
- <variable formalParameter="ACK">
- <connectionPointOut>
- <relPosition x="162" y="39"/>
- </connectionPointOut>
- </variable>
- <variable formalParameter="VALID">
- <connectionPointOut>
- <relPosition x="162" y="78"/>
- </connectionPointOut>
- </variable>
- <variable formalParameter="VALUE">
- <connectionPointOut>
- <relPosition x="162" y="117"/>
- </connectionPointOut>
- </variable>
- </outputVariables>
- </block>
- <inVariable localId="15" height="27" width="35">
- <position x="1121" y="273"/>
- <connectionPointOut>
- <relPosition x="35" y="13"/>
- </connectionPointOut>
- <expression>3</expression>
- </inVariable>
- <inVariable localId="16" height="27" width="68">
- <position x="1088" y="312"/>
- <connectionPointOut>
- <relPosition x="68" y="13"/>
- </connectionPointOut>
- <expression>16#6064</expression>
- </inVariable>
- <inVariable localId="17" height="27" width="32">
- <position x="1124" y="351"/>
- <connectionPointOut>
- <relPosition x="32" y="13"/>
- </connectionPointOut>
- <expression>0</expression>
- </inVariable>
- <inVariable localId="18" height="27" width="52">
- <position x="1104" y="390"/>
- <connectionPointOut>
- <relPosition x="52" y="13"/>
- </connectionPointOut>
- <expression>'int32'</expression>
- </inVariable>
- <outVariable localId="19" height="27" width="109">
- <position x="1576" y="312"/>
- <connectionPointIn>
- <relPosition x="0" y="13"/>
- <connection refLocalId="20" formalParameter="OUT">
- <position x="1576" y="325"/>
- <position x="1539" y="325"/>
- </connection>
- </connectionPointIn>
- <expression>ActualPosition</expression>
- </outVariable>
- <block localId="20" width="126" height="40" typeName="STRING_TO_DINT">
- <position x="1413" y="295"/>
- <inputVariables>
- <variable formalParameter="IN">
- <connectionPointIn>
- <relPosition x="0" y="30"/>
- <connection refLocalId="14" formalParameter="VALUE">
- <position x="1413" y="325"/>
- <position x="1369" y="325"/>
- </connection>
- </connectionPointIn>
- </variable>
- </inputVariables>
- <inOutVariables/>
- <outputVariables>
- <variable formalParameter="OUT">
- <connectionPointOut>
- <relPosition x="126" y="30"/>
- </connectionPointOut>
- </variable>
- </outputVariables>
- </block>
- <outVariable localId="21" height="27" width="45">
- <position x="1576" y="234"/>
- <connectionPointIn>
- <relPosition x="0" y="13"/>
- <connection refLocalId="22" formalParameter="OUT">
- <position x="1576" y="247"/>
- <position x="1509" y="247"/>
- </connection>
- </connectionPointIn>
- <expression>Valid</expression>
- </outVariable>
- <block localId="22" width="67" height="72" typeName="AND">
- <position x="1442" y="214"/>
- <inputVariables>
- <variable formalParameter="IN1">
- <connectionPointIn>
- <relPosition x="0" y="33"/>
- <connection refLocalId="14" formalParameter="ACK">
- <position x="1442" y="247"/>
- <position x="1369" y="247"/>
- </connection>
- </connectionPointIn>
- </variable>
- <variable formalParameter="IN2">
- <connectionPointIn>
- <relPosition x="0" y="59"/>
- <connection refLocalId="14" formalParameter="VALID">
- <position x="1442" y="273"/>
- <position x="1399" y="273"/>
- <position x="1399" y="286"/>
- <position x="1369" y="286"/>
- </connection>
- </connectionPointIn>
- </variable>
- </inputVariables>
- <inOutVariables/>
- <outputVariables>
- <variable formalParameter="OUT">
- <connectionPointOut>
- <relPosition x="67" y="33"/>
- </connectionPointOut>
- </variable>
- </outputVariables>
- </block>
- </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>
+<?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" y="13"/>
+ </connectionPointOut>
+ <expression>360.0</expression>
+ </inVariable>
+ <inVariable localId="24" height="27" width="46">
+ <position x="1303" y="306"/>
+ <connectionPointOut>
+ <relPosition x="46" y="13"/>
+ </connectionPointOut>
+ <expression>-360.0</expression>
+ </inVariable>
+ <block localId="25" width="235" height="350" typeName="MC_MoveAbsolute" 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>