HGKeeper

c9b0340ea0f5

Added support for MC_*DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code

+8 -0

+2 -0

~~--- a/etherlab/etherlab.py Wed Jan 30 23:46:58 2013 +0100~~

+++ b/etherlab/etherlab.py Thu Feb 07 00:59:50 2013 +0100

@@ -202,9 +202,17 @@

DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"

EXTRA_NODE_VARIABLES = [

+ ("ErrorCode", [

+ {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),

+ "publish": None}

+ ]),

("DigitalInputs", [

{"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),

"publish": None}

+ ]),

+ ("DigitalOutputs", [

+ {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),

+ "retrieve": None}

])

]

EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])

~~--- a/etherlab/plc_cia402node.c Wed Jan 30 23:46:58 2013 +0100~~

+++ b/etherlab/plc_cia402node.c Thu Feb 07 00:59:50 2013 +0100

@@ -118,6 +118,8 @@

}

// Default variables retrieve

+ __CIA402Node_%(location)s.axis->CommunicationReady = *(__CIA402Node_%(location)s.StatusWord) != 0;

+ __CIA402Node_%(location)s.axis->ReadyForPowerOn = __CIA402Node_%(location)s.state == __SwitchedOn || __OperationEnabled;

__CIA402Node_%(location)s.axis->PowerFeedback = __CIA402Node_%(location)s.state == __OperationEnabled;

__CIA402Node_%(location)s.axis->ActualPosition = AXIS_UNIT_TO_USER_UNIT(*(__CIA402Node_%(location)s.ActualPosition));

__CIA402Node_%(location)s.axis->ActualVelocity = AXIS_UNIT_TO_USER_UNIT(*(__CIA402Node_%(location)s.ActualVelocity));