| author | Florian Pose <fp@igh-essen.com> |
| Fri, 16 Dec 2005 15:25:13 +0000 | |
| branch | kernel2.6 |
| changeset 36 | 6e9de6fbf74c |
| parent 35 | ed834aa98f89 |
| child 39 | 6965c23a6826 |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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* |
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* e c _ t y p e s . c |
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* |
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* EtherCAT-Slave-Typen. |
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* |
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* $Date: 2005-09-07 17:50:50 +0200 (Mit, 07 Sep 2005) $ |
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* $Author: fp $ |
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* |
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***************************************************************/ |
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#include <linux/module.h> |
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#include "ec_globals.h" |
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#include "ec_types.h" |
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/***************************************************************/ |
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unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
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unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
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unsigned char sm0_1014[] = {0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00};
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unsigned char sm0_2004[] = {0x00, 0x0F, 0x01, 0x00, 0x46, 0x00, 0x01, 0x00};
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unsigned char sm2_31xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
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unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
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parents:
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unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
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unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; |
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unsigned char fmmu0_2004[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
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0x00, 0x0F, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}; |
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unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
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0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00}; |
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Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
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unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
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0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}; |
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int read_1014(unsigned char *data, unsigned int channel) |
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{
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return (data[0] >> channel) & 0x01; |
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} |
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void write_2004(unsigned char *data, unsigned int channel, int value) |
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{
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if (value) |
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{
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data[0] |= (1 << channel); |
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} |
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else |
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{
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data[0] &= ~(1 << channel); |
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} |
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} |
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int read_31xx(unsigned char *data, unsigned int channel) |
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{
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return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]); |
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} |
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ed834aa98f89
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Florian Pose <fp@igh-essen.com>
parents:
24
diff
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void write_41xx(unsigned char *data, unsigned int channel, int value) |
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{
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data[channel * 3 + 1] = (value & 0xFF00) >> 8; |
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data[channel * 3 + 2] = value & 0xFF; |
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} |
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/***************************************************************/ |
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EtherCAT_slave_desc_t Beckhoff_EK1100[] = |
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{{
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"Beckhoff", "EK1100", "Bus Coupler", |
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ECAT_ST_SIMPLE_NOSYNC, |
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NULL, NULL, NULL, NULL, |
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NULL, |
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0, 0, |
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NULL, NULL |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL1014[] = |
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{{
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"Beckhoff", "EL1014", "4x Digital Input", |
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ECAT_ST_SIMPLE, |
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sm0_1014, NULL, NULL, NULL, |
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fmmu0_1014, |
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1, 4, |
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read_1014, NULL |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL2004[] = |
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{{
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"Beckhoff", "EL2004", "4x Digital Output", |
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ECAT_ST_SIMPLE, |
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sm0_2004, NULL, NULL, NULL, |
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fmmu0_2004, |
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1, 4, |
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NULL, write_2004 |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL3102[] = |
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{{
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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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"Beckhoff", "EL3102", "2x Analog Input diff.", |
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ECAT_ST_MAILBOX, |
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, |
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fmmu0_31xx, |
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6, 2, |
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read_31xx, NULL |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL3162[] = |
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{{
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"Beckhoff", "EL3162", "2x Analog Input", |
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ECAT_ST_MAILBOX, |
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sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, |
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fmmu0_31xx, |
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6, 2, |
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read_31xx, NULL |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL4102[] = |
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{{
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"Beckhoff", "EL4102", "2x Analog Output", |
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ECAT_ST_MAILBOX, |
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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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sm0_multi, sm1_multi, sm2_41xx, NULL, |
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ed834aa98f89
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Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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fmmu0_41xx, |
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4, 2, |
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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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NULL, write_41xx |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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}}; |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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EtherCAT_slave_desc_t Beckhoff_EL4132[] = |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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{{
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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"Beckhoff", "EL4132", "2x Analog Output diff.", |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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ECAT_ST_MAILBOX, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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sm0_multi, sm1_multi, sm2_41xx, NULL, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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fmmu0_41xx, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
diff
changeset
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4, 2, |
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ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
24
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changeset
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NULL, write_41xx |
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}}; |
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EtherCAT_slave_desc_t Beckhoff_EL5001[] = |
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{{
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"Beckhoff", "EL5001", "SSI-Interface", |
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ECAT_ST_SIMPLE, |
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NULL, NULL, NULL, NULL, // Noch nicht eingepflegt... |
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NULL, |
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0, 0, |
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NULL, NULL |
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}}; |
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/***************************************************************/ |
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unsigned int slave_idents_count = 7; |
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Code zum Senden/Empfangen mehrerer Kommandos in einem Frame vorerst ganz entfernt.
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struct slave_ident slave_idents[] = |
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{
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{0x00000002, 0x03F63052, Beckhoff_EL1014},
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{0x00000002, 0x044C2C52, Beckhoff_EK1100},
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{0x00000002, 0x07D43052, Beckhoff_EL2004},
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{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
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{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
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{0x00000002, 0x10063052, Beckhoff_EL4102},
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ed834aa98f89
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Florian Pose <fp@igh-essen.com>
parents:
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{0x00000002, 0x10243052, Beckhoff_EL4132},
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{0x00000002, 0x13893052, Beckhoff_EL5001}
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}; |
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/***************************************************************/ |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
diff
changeset
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
diff
changeset
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EXPORT_SYMBOL(Beckhoff_EK1100); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
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EXPORT_SYMBOL(Beckhoff_EL1014); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
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EXPORT_SYMBOL(Beckhoff_EL2004); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
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EXPORT_SYMBOL(Beckhoff_EL3102); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
diff
changeset
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EXPORT_SYMBOL(Beckhoff_EL3162); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
23
diff
changeset
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EXPORT_SYMBOL(Beckhoff_EL4102); |
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35
ed834aa98f89
Klemme Beckhoff EL4132 hinzugef?gt.
Florian Pose <fp@igh-essen.com>
parents:
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EXPORT_SYMBOL(Beckhoff_EL4132); |
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d417dd9bdc2f
Wilhelms ?nderungen ?bernommen.
Florian Pose <fp@igh-essen.com>
parents:
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EXPORT_SYMBOL(Beckhoff_EL5001); |