beremiz

Fixed ethercat test with higen drive project

2013-04-05, Laurent Bessard
5460eba6c5e0
Parents c317b1aaf920
Children 8e6e6364087e
Fixed ethercat test with higen drive project
3 files changed, 75 insertions(+), 9 deletions(-)
  • +67 -0
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
  • +7 -0
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
  • +1 -9
    ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml
    • --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Fri Apr 05 00:09:54 2013 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Fri Apr 05 00:14:00 2013 +0200
    @@ -19,6 +19,19 @@
    <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>
    @@ -31,6 +44,19 @@
    <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>
    @@ -55,6 +81,47 @@
    <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>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Fri Apr 05 00:14:00 2013 +0200
    @@ -0,0 +1,7 @@
    +<?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>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Fri Apr 05 00:09:54 2013 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_modif.xml Fri Apr 05 00:14:00 2013 +0200
    @@ -3061,15 +3061,7 @@
    </Entry>
    </TxPdo>
    <Mailbox>
    - <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false">
    - <InitCmd>
    - <Transition>PS</Transition>
    - <Index>#x2025</Index>
    - <SubIndex>0</SubIndex>
    - <Data>0004</Data>
    - <Comment>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Comment>
    - </InitCmd>
    - </CoE>
    + <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"/>
    </Mailbox>
    <Dc>
    <OpMode>