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1 global Mapping, AddMenuEntries |
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2 |
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3 """ |
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4 MappingDictionary for DS-402 |
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5 """ |
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6 |
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7 Mapping = { |
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8 |
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9 0x6040 : {"name" : "Controlword", "struct" : var, "need" : False, "values" : |
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10 [{"name" : "Controlword", "type" : 0x06, "access" : 'rw', "pdo" : True}]}, |
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11 |
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12 0x6041 : {"name" : "Statusword", "struct" : var, "need" : False, "values" : |
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13 [{"name" : "Statusword", "type" : 0x06, "access" : 'ro', "pdo" : True}]}, |
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14 |
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15 0x6060 : {"name" : "Modes of operation", "struct" : var, "need" : False, "values" : |
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16 [{"name" : "Modes of operation", "type" : 0x02, "access" : 'rw', "pdo" : True}]}, |
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17 |
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18 0x6061 : {"name" : "Modes of operation display", "struct" : var, "need" : False, "values" : |
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19 [{"name" : "Modes of operation display", "type" : 0x02, "access" : 'ro', "pdo" : True}]}, |
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20 |
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21 0x6062 : {"name" : "Position demannd value", "struct" : var, "need" : False, "values" : |
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22 [{"name" : "Position demannd value", "type" : 0x04, "access" : 'ro', "pdo" : True}]}, |
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23 |
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24 0x6064 : {"name" : "Position actual value", "struct" : var, "need" : False, "values" : |
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25 [{"name" : "Position actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]}, |
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26 |
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27 0x6065 : {"name" : "Maximal following error", "struct" : var, "need" : False, "values" : |
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28 [{"name" : "Maximal following error", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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29 |
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30 0x6067 : {"name" : "Position window", "struct" : var, "need" : False, "values" : |
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31 [{"name" : "Position window", "type" : 0x07, "access" : 'rw', "pdo" : False}]}, |
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32 |
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33 0x6068 : {"name" : "Position window time", "struct" : var, "need" : False, "values" : |
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34 [{"name" : "Position window time", "type" : 0x06, "access" : 'rw', "pdo" : False}]}, |
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35 |
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36 0x6069 : {"name" : "Velocity sensor actual value", "struct" : var, "need" : False, "values" : |
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37 [{"name" : "Velocity sensor actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]}, |
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38 |
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39 0x606B : {"name" : "Velocity demand value", "struct" : var, "need" : False, "values" : |
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40 [{"name" : "Velocity demand value", "type" : 0x04, "access" : 'ro', "pdo" : True}]}, |
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41 |
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42 0x606C : {"name" : "Velocity actual value", "struct" : var, "need" : False, "values" : |
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43 [{"name" : "Velocity actual value", "type" : 0x04, "access" : 'ro', "pdo" : True}]}, |
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44 |
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45 0x6078 : {"name" : "Current actual value", "struct" : var, "need" : False, "values" : |
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46 [{"name" : "Current actual value", "type" : 0x03, "access" : 'ro', "pdo" : True}]}, |
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47 |
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48 0x607A : {"name" : "Target position", "struct" : var, "need" : False, "values" : |
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49 [{"name" : "Target position", "type" : 0x04, "access" : 'rw', "pdo" : True}]}, |
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50 |
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51 0x607C : {"name" : "Home offset", "struct" : var, "need" : False, "values" : |
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52 [{"name" : "Home offset", "type" : 0x04, "access" : 'rw', "pdo" : True}]}, |
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53 |
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54 0x607D : {"name" : "Software position limit", "struct" : array, "need" : False, "values" : |
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55 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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56 {"name" : "Minimal position limit", "type" : 0x04, "access" : 'rw', "pdo" : False}, |
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57 {"name" : "Maximal position limit", "type" : 0x04, "access" : 'rw', "pdo" : False}]}, |
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58 |
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59 0x607F : {"name" : "Maximal profile velocity", "struct" : var, "need" : False, "values" : |
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60 [{"name" : "Maximal profile velocity", "type" : 0x07, "access" : 'rw', "pdo" : False}]}, |
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61 |
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62 0x6081 : {"name" : "Profile velocity", "struct" : var, "need" : False, "values" : |
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63 [{"name" : "Profile velocity", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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64 |
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65 0x6083 : {"name" : "Profile acceleration", "struct" : var, "need" : False, "values" : |
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66 [{"name" : "Profile acceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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67 |
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68 0x6084 : {"name" : "Profile deceleration", "struct" : var, "need" : False, "values" : |
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69 [{"name" : "Profile deceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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70 |
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71 0x6085 : {"name" : "Quick stop deceleration", "struct" : var, "need" : False, "values" : |
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72 [{"name" : "Quick stop deceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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73 |
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74 0x6086 : {"name" : "Motion profile type", "struct" : var, "need" : False, "values" : |
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75 [{"name" : "Motion profile type", "type" : 0x03, "access" : 'rw', "pdo" : True}]}, |
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76 |
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77 0x6089 : {"name" : "Position notation index", "struct" : var, "need" : False, "values" : |
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78 [{"name" : "Position notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]}, |
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79 |
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80 0x608A : {"name" : "Position dimention index", "struct" : var, "need" : False, "values" : |
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81 [{"name" : "Position dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]}, |
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82 |
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83 0x608B : {"name" : "Velocity notation index", "struct" : var, "need" : False, "values" : |
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84 [{"name" : "Velocity notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]}, |
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85 |
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86 0x608C : {"name" : "Velocity dimention index", "struct" : var, "need" : False, "values" : |
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87 [{"name" : "Velocity dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]}, |
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88 |
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89 0x608D : {"name" : "Acceleraion notation index", "struct" : var, "need" : False, "values" : |
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90 [{"name" : "Acceleraion notation index", "type" : 0x02, "access" : 'rw', "pdo" : False}]}, |
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91 |
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92 0x608E : {"name" : "Acceleraion dimention index", "struct" : var, "need" : False, "values" : |
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93 [{"name" : "Acceleraion dimention index", "type" : 0x08, "access" : 'rw', "pdo" : False}]}, |
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94 |
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95 0x6098 : {"name" : "Homing method", "struct" : var, "need" : False, "values" : |
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96 [{"name" : "Homing method", "type" : 0x02, "access" : 'rw', "pdo" : True}]}, |
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97 |
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98 0x6099 : {"name" : "Homing speeds", "struct" : array, "need" : False, "values" : |
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99 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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100 {"name" : "Speed for switch search", "type" : 0x07, "access" : 'rw', "pdo" : True}, |
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101 {"name" : "Speed for zero search", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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102 |
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103 0x609A : {"name" : "Homing acceleration", "struct" : var, "need" : False, "values" : |
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104 [{"name" : "Homing acceleration", "type" : 0x07, "access" : 'rw', "pdo" : True}]}, |
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105 |
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106 0x60F6 : {"name" : "Current control parameter set", "struct" : array, "need" : False, "values" : |
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107 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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108 {"name" : "Current regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}, |
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109 {"name" : "Current regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}]}, |
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110 |
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111 0x60F9 : {"name" : "Velocity control parameter set", "struct" : array, "need" : False, "values" : |
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112 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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113 {"name" : "Velocity regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}, |
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114 {"name" : "Velocity regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}]}, |
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115 |
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116 0x60FB : {"name" : "Position control parameter set", "struct" : array, "need" : False, "values" : |
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117 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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118 {"name" : "Position regulator P-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}, |
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119 {"name" : "Position regulator I-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}, |
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120 {"name" : "Position regulator D-gain", "type" : 0x03, "access" : 'rw', "pdo" : True}, |
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121 {"name" : "Velocity feed forward factor", "type" : 0x06, "access" : 'rw', "pdo" : True}, |
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122 {"name" : "Acceleration feed forward factor", "type" : 0x06, "access" : 'rw', "pdo" : True}]}, |
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123 |
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124 0x60FF : {"name" : "Target velocity", "struct" : var, "need" : False, "values" : |
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125 [{"name" : "Target velocity", "type" : 0x04, "access" : 'rw', "pdo" : True}]}, |
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126 |
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127 0x6402 : {"name" : "Motor type", "struct" : var, "need" : False, "values" : |
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128 [{"name" : "Motor type", "type" : 0x06, "access" : 'rw', "pdo" : False}]}, |
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129 |
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130 0x6410 : {"name" : "Motor data", "struct" : array, "need" : False, "values" : |
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131 [{"name" : "Number of entries", "type" : 0x05, "access" : 'ro', "pdo" : False}, |
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132 {"name" : "Continous current limit", "type" : 0x06, "access" : 'rw', "pdo" : True}, |
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133 {"name" : "Output current limit", "type" : 0x06, "access" : 'rw', "pdo" : True}, |
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134 {"name" : "Pole pair number", "type" : 0x05, "access" : 'rw', "pdo" : False}, |
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135 {"name" : "Maximal speed in current mode", "type" : 0x06, "access" : 'rw', "pdo" : True}, |
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136 {"name" : "Thermal time constant winding", "type" : 0x06, "access" : 'rw', "pdo" : False}]}, |
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137 |
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138 0x6502 : {"name" : "Supported drive modes", "struct" : var, "need" : False, "values" : |
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139 [{"name" : "Supported drive modes", "type" : 0x07, "access" : 'ro', "pdo" : False}]}, |
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140 |
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141 } |
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142 |
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143 AddMenuEntries = [] |