Update higen drive example introducing usage of csv mode
--- 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">- <Destination>00</Destination>- <AutoIncAddr>0</AutoIncAddr>- <ProductCode>72100946</ProductCode>- <RevisionNo>65536</RevisionNo>- <AutoIncAddr>0</AutoIncAddr>- <ProductCode>71315538</ProductCode>- <RevisionNo>1048576</RevisionNo>- <AutoIncAddr>0</AutoIncAddr>- <ProductCode>136851538</ProductCode>- <RevisionNo>1048576</RevisionNo>- <Name>EDA7000 CoE Drive</Name>- <AutoIncAddr>0</AutoIncAddr>- <VendorId>1573</VendorId>- <ProductCode>1768449365</ProductCode>- <RevisionNo>2</RevisionNo>- <Transition>II</Transition>- <Comment>Configure limit switches signal</Comment>- <Transition>II</Transition>- <Transition>II</Transition>+<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd"> + <Destination>00</Destination> + <AutoIncAddr>0</AutoIncAddr> + <ProductCode>72100946</ProductCode> + <RevisionNo>65536</RevisionNo> + <AutoIncAddr>0</AutoIncAddr> + <ProductCode>71315538</ProductCode> + <RevisionNo>1048576</RevisionNo> + <AutoIncAddr>0</AutoIncAddr> + <ProductCode>136851538</ProductCode> + <RevisionNo>1048576</RevisionNo> + <Name>EDA7000 CoE Drive</Name> + <AutoIncAddr>0</AutoIncAddr> + <VendorId>1573</VendorId> + <ProductCode>1768449365</ProductCode> + <RevisionNo>3</RevisionNo> + <Transition>II</Transition> + <Comment>Configure limit switches signal</Comment> + <Transition>II</Transition> + <Transition>II</Transition> --- 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"/>+<?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">- <Name>HIGEN Motor Co., Ltd.</Name>- <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>- <Group SortOrder="520">- <Name LcId="1033">Drives</Name>- <Image16x14>DRIVE</Image16x14>- <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>- <Behavior StartToSafeopNoSync="false" />- <GroupType>Drive</GroupType>- <ProfileNo>402</ProfileNo>- <Name>largest sub-index supported</Name>- <Name>Product code</Name>- <Name>largest sub-index supported</Name>- <Name>1 mapping data</Name>- <Name>2 mapping data</Name>- <Name>3 mapping data</Name>- <Name>4 mapping data</Name>- <Name>5 mapping data</Name>- <Name>6 mapping data</Name>- <Name>largest sub-index supported</Name>- <Name>1 mapping data</Name>- <Name>2 mapping data</Name>- <Name>3 mapping data</Name>- <Name>4 mapping data</Name>- <Name>5 mapping data</Name>- <Name>largest sub-index supported</Name>- <Name>1 mapping data</Name>- <Name>2 mapping data</Name>- <Name>3 mapping data</Name>- <Name>4 mapping data</Name>- <Name>5 mapping data</Name>- <Name>6 mapping data</Name>- <Name>7 mapping data</Name>- <Name>8 mapping data</Name>- <Name>9 mapping data</Name>- <Name>largest sub-index supported</Name>- <Name>largest sub-index supported</Name>- <Name>Cycle time</Name>- <Name>Shift time</Name>- <Name>Sync modes supported</Name>- <Name>Minimum cycle time</Name>- <Name>Calc and copy time</Name>- <Name>Get cycle time</Name>- <Name>Delay time</Name>- <Name>Sync0 time</Name>- <Name>Cycle exceeded counter</Name>- <Name>SM event missed counter</Name>- <Name>Shift too short counter</Name>- <Name>Sync error</Name>- <PdoMapping>RT</PdoMapping>- <Name>largest sub-index supported</Name>- <Name>Minimum Software position limit</Name>- <Name>Maximum Software position limit</Name>- <Name>largest sub-index supported</Name>- <Name>Speed during search for switch</Name>- <Name>Speed during search for zero</Name>- <Name>largest sub-index supported</Name>- <Name>Physical output</Name>- <PdoMapping>RT</PdoMapping>- <Name>largest sub-index supported</Name>- <Name>Invalid Frame Counter</Name>- <Name>Rx Error Counter</Name>- <Name>Lost Link Counter</Name>- <Name>Counter Reset</Name>- <Name>Ripple COMPEN</Name>- <DefaultData>00</DefaultData>- <Name>Device type</Name>- <DefaultData>92010200</DefaultData>- <Name>Error register</Name>- <DefaultData>00</DefaultData>- <Name>Identity object</Name>- <Name>largest sub-index supported</Name>- <DefaultData>02</DefaultData>- <DefaultData>00000625</DefaultData>- <Name>Product code</Name>- <DefaultData>69686555</DefaultData>- <!-- EDA7 ascii code -->- <Name>1st receive PDO mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>06</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004060</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>20007A60</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>2000FF60</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>10007160</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>08006060</DefaultData>- <Name>6 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>2nd receive PDO mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>06</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004060</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>2000FF60</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>1000E060</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>1000E160</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>08060060</DefaultData>- <Name>6 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>3rd receive PDO mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>06</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004060</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>20007A60</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>2000FF60</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>1000B860</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>08060060</DefaultData>- <Name>6 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>1st transmit PDO-Mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>01</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004160</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>20006460</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>10007760</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>08006160</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>2nd transmit PDO-Mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>06</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004160</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>20006460</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>20006C60</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>10007760</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>08006160</DefaultData>- <Name>6 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>3rd transmit PDO-Mapping</Name>- <Name>largest sub-index supported</Name>- <DefaultData>09</DefaultData>- <Name>1 mapping data</Name>- <DefaultData>10004160</DefaultData>- <Name>2 mapping data</Name>- <DefaultData>20006460</DefaultData>- <Name>3 mapping data</Name>- <DefaultData>20006C60</DefaultData>- <Name>4 mapping data</Name>- <DefaultData>1000B960</DefaultData>- <Name>5 mapping data</Name>- <DefaultData>2000BA60</DefaultData>- <Name>6 mapping data</Name>- <DefaultData>2000BB60</DefaultData>- <Name>7 mapping data</Name>- <DefaultData>2000FD60</DefaultData>- <Name>8 mapping data</Name>- <DefaultData>08006160</DefaultData>- <Name>9 mapping data</Name>- <DefaultData>08000000</DefaultData>- <Name>RxPDO assign</Name>- <Name>largest sub-index supported</Name>- <DefaultData>01</DefaultData>- <DefaultData>0016</DefaultData>- <Name>TxPDO assign</Name>- <Name>largest sub-index supported</Name>- <DefaultData>01</DefaultData>- <DefaultData>001A</DefaultData>- <Name>SM output parameter</Name>- <Name>largest sub-index supported</Name>- <DefaultData>32</DefaultData>- <DefaultData>0200</DefaultData>- <Name>Cycle time</Name>- <DefaultData>00350C00</DefaultData>- <Name>Shift time</Name>- <DefaultData>00000000</DefaultData>- <Name>Sync modes supported</Name>- <DefaultData>0500</DefaultData>- <Name>Minimum cycle time</Name>- <DefaultData>00350C00</DefaultData>- <Name>Calc and copy time</Name>- <DefaultData>50C30000</DefaultData>- <Name>Get cycle time</Name>- <DefaultData>00000000</DefaultData>- <Name>Delay time</Name>- <DefaultData>A0860100</DefaultData>- <Name>Sync0 time</Name>- <DefaultData>00000000</DefaultData>- <Name>Cycle exceeded counter</Name>- <DefaultData>00000000</DefaultData>- <Name>SM event missed counter</Name>- <DefaultData>00000000</DefaultData>- <Name>Shift too short counter</Name>- <DefaultData>0000</DefaultData>- <Name>Sync error</Name>- <DefaultData>0000</DefaultData>- <Name>SM input parameter</Name>- <Name>largest sub-index supported</Name>- <DefaultData>32</DefaultData>- <DefaultData>0200</DefaultData>- <Name>Cycle time</Name>- <DefaultData>00350C00</DefaultData>- <Name>Shift time</Name>- <DefaultData>00000000</DefaultData>- <Name>Sync modes supported</Name>- <DefaultData>0500</DefaultData>- <Name>Minimum cycle time</Name>- <DefaultData>00350C00</DefaultData>- <Name>Calc and copy time</Name>- <DefaultData>50C30000</DefaultData>- <Name>Get cycle time</Name>- <DefaultData>00000000</DefaultData>- <Name>Delay time</Name>- <DefaultData>A0860100</DefaultData>- <Name>Sync0 time</Name>- <DefaultData>00000000</DefaultData>- <Name>Cycle exceeded counter</Name>- <DefaultData>00000000</DefaultData>- <Name>SM event missed counter</Name>- <DefaultData>00000000</DefaultData>- <Name>Shift too short counter</Name>- <DefaultData>0000</DefaultData>- <Name>Sync error</Name>- <DefaultData>0000</DefaultData>- <Name>Drive ID (P01-11)</Name>- <DefaultData>00</DefaultData>- <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>- <DefaultData>09</DefaultData>- <Name>Pulse Out Rate (P01-14)</Name>- <DefaultData>00020000</DefaultData>- <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name>- <DefaultData>0100</DefaultData>- <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name>- <DefaultData>0000</DefaultData>- <Name>Mode Change Time (x0.1ms) (P02-02)</Name>- <DefaultData>0000000A</DefaultData>- <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>- <DefaultData>00000000</DefaultData>- <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name>- <DefaultData>00000000</DefaultData>- <Name>Brake Speed (x0.1rpm) (P02-07)</Name>- <DefaultData>000001F4</DefaultData>- <Name>Brake Time (x0.1ms) (P02-08)</Name>- <DefaultData>00000032</DefaultData>- <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>- <DefaultData>0000000A</DefaultData>- <Name>Notch Filter 1 Mode (P02-10)</Name>- <DefaultData>00</DefaultData>- <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name>- <DefaultData>00000BB8</DefaultData>- <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name>- <DefaultData>000003B6</DefaultData>- <Name>Notch Filter 2 Mode (P02-13)</Name>- <DefaultData>00</DefaultData>- <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name>- <DefaultData>00001388</DefaultData>- <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name>- <DefaultData>000003B6</DefaultData>- <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>- <DefaultData>00000000</DefaultData>- <Name>Auto Tuning Mode (P02-17)</Name>- <DefaultData>00</DefaultData>- <Name>System Response (P02-18)</Name>- <DefaultData>00</DefaultData>- <Name>Inertia Ratio (x0.1) (P02-19)</Name>- <DefaultData>00000014</DefaultData>- <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>- <DefaultData>00001F40</DefaultData>- <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>- <DefaultData>000003E8</DefaultData>- <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>- <DefaultData>000005DC</DefaultData>- <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>- <DefaultData>000005DC</DefaultData>- <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>- <DefaultData>0003</DefaultData>- <Name>Parameter Initialization (P02-29)</Name>- <DefaultData>00</DefaultData>- <Name>Speed Gain Mode (P03-01)</Name>- <DefaultData>01</DefaultData>- <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name>- <DefaultData>000003E8</DefaultData>- <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name>- <DefaultData>00000000</DefaultData>- <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name>- <DefaultData>00000000</DefaultData>- <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name>- <DefaultData>00000000</DefaultData>- <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name>- <DefaultData>00000000</DefaultData>- <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name>- <DefaultData>00000000</DefaultData>- <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name>- <DefaultData>00000000</DefaultData>- <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name>- <DefaultData>00000000</DefaultData>- <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name>- <DefaultData>00000064</DefaultData>- <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name>- <DefaultData>00000000</DefaultData>- <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Gain Mode (P05-01)</Name>- <DefaultData>01</DefaultData>- <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position PI-P Pulse Error (ppr) (P05-07)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name>- <DefaultData>00000000</DefaultData>- <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>- <DefaultData>00000001</DefaultData>- <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>- <DefaultData>00000001</DefaultData>- <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>- <DefaultData>00000000</DefaultData>- <Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name>- <DefaultData>000A</DefaultData>- <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>- <DefaultData>00000000</DefaultData>- <Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name>- <DefaultData>00000000</DefaultData>- <Name>Monitor 1 Select (P09-01)</Name>- <DefaultData>00</DefaultData>- <Name>Monitor 1 Absolute (P09-02)</Name>- <DefaultData>00</DefaultData>- <Name>Monitor 1 Scale (x0.1) (P09-03)</Name>- <DefaultData>0000000A</DefaultData>- <Name>Monitor 1 Offset (mV) (P09-04)</Name>- <DefaultData>00000000</DefaultData>- <Name>Monitor 2 Select (P09-05)</Name>- <DefaultData>01</DefaultData>- <Name>Monitor 2 Absolute (P09-06)</Name>- <DefaultData>00</DefaultData>- <Name>Monitor 2 Scale (x0.1) (P09-07)</Name>- <DefaultData>0000000A</DefaultData>- <Name>Monitor 2 Offset (mV) (P09-08)</Name>- <DefaultData>00000000</DefaultData>- <Name>Error Code</Name>- <DefaultData>0000</DefaultData>- <Name>Controlword</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Statusword</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Quick Stop Option Code</Name>- <DefaultData>0600</DefaultData>- <Name>Disable Operation Option Code</Name>- <DefaultData>0200</DefaultData>- <Name>Fault Reaction Option Code</Name>- <DefaultData>FFFF</DefaultData>- <Name>Modes Of Operation</Name>- <DefaultData>08</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Modes Of Operation Display</Name>- <DefaultData>00</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Position Actual Value</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Following Error Window</Name>- <DefaultData>404B4C00</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Position Window</Name>- <DefaultData>F4010000</DefaultData>- <Name>Velocity Actual Value</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name> Velocity Window</Name>- <DefaultData>3200</DefaultData>- <Name>Target Torque</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Torque Actual Value</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Target Position</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Home Offset</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Software Position Limit</Name>- <Name>largest sub-index supported</Name>- <DefaultData>02</DefaultData>- <Name>Minimum Software position limit</Name>- <DefaultData>00000080</DefaultData>- <Name>Maximum Software position limit</Name>- <DefaultData>ffffff7f</DefaultData>- <DefaultData>00</DefaultData>- <Name>Profile Acceleration</Name>- <DefaultData>FFFFFFFF</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Profile Deceleration</Name>- <DefaultData>ffffffff</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Homing Method</Name>- <DefaultData>00</DefaultData>- <Name>Homing Speeds</Name>- <Name>largest sub-index supported</Name>- <DefaultData>02</DefaultData>- <Name>Speed during search for switch</Name>- <DefaultData>55550300</DefaultData>- <Name>Speed during search for zero</Name>- <DefaultData>88080000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Homing Acceleration</Name>- <DefaultData>ffffffff</DefaultData>- <Name>Touch Probe Fucntion</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Touch Probe Status</Name>- <DefaultData>0000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Touch Probe Pos1 Pos Value</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Touch Probe Pos1 Neg Value</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Positive Torque Limit</Name>- <DefaultData>E803</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Negative Torque Limit</Name>- <DefaultData>E803</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Following Error Actual Value</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Digital Inputs</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>T</PdoMapping>- <Name>Digital Outputs</Name>- <Name>largest sub-index supported</Name>- <DefaultData>01</DefaultData>- <Name>Physical output</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>RT</PdoMapping>- <Name>Target Velocity</Name>- <DefaultData>00000000</DefaultData>- <PdoMapping>R</PdoMapping>- <Name>Supported Drive Mode</Name>- <DefaultData>000003A0</DefaultData>- <Name>Communication Error Counter</Name>- <Name>largest sub-index supported</Name>- <DefaultData>04</DefaultData>- <Name>Invalid Frame Counter</Name>- <DefaultData>0000</DefaultData>- <Name>Rx Error Counter</Name>- <DefaultData>0000</DefaultData>- <Name>Lost Link Counter</Name>- <DefaultData>0000</DefaultData>- <Name>Counter Reset</Name>- <DefaultData>0000</DefaultData>- <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>- <RxPdo Sm="2" Fixed="1">- <Name>Receive PDO mapping</Name>- <Exclude>#x1601</Exclude>- <Exclude>#x1602</Exclude>- <Name>Controlword</Name>- <Comment>object 0x6040:0</Comment>- <DataType>UINT</DataType>- <!-- Target Position -->- <Name>Target Position</Name>- <Comment>object 0x607A:0</Comment>- <DataType>DINT</DataType>- <!-- Target Velocity -->- <Name>Target Velocity</Name>- <Comment>object 0x60FF:0</Comment>- <DataType>DINT</DataType>- <Name>Target Torque</Name>- <Comment>object 0x6071:0</Comment>- <DataType>INT</DataType>- <!-- Mode of Operation -->- <Name>Mode of Operation</Name>- <Comment>object 0x6060:0</Comment>- <DataType>SINT</DataType>- <Name>Receive PDO mapping</Name>- <Exclude>#x1600</Exclude>- <Exclude>#x1602</Exclude>- <Name>Controlword</Name>- <Comment>object 0x6040:0</Comment>- <DataType>UINT</DataType>- <!-- Target Velocity -->- <Name>Target Velocity</Name>- <Comment>object 0x60FF:0</Comment>- <DataType>DINT</DataType>- <!--Positive Torque Limit Value-->- <Name>Positive Torque Limit Value</Name>- <Comment>object 0x60E0:0</Comment>- <DataType>UINT</DataType>- <!--Negative Torque Limit Value-->- <Name>Negative Torque Limit Value</Name>- <Comment>object 0x60E1:0</Comment>- <DataType>UINT</DataType>- <!-- Mode of Operation -->- <Name>Mode of Operation</Name>- <Comment>object 0x6060:0</Comment>- <DataType>SINT</DataType>- <Name>Receive PDO mapping</Name>- <Exclude>#x1600</Exclude>- <Exclude>#x1601</Exclude>- <Name>Controlword</Name>- <Comment>object 0x6040:0</Comment>- <DataType>UINT</DataType>- <!-- Target Position -->- <Name>Target Position</Name>- <Comment>object 0x607A:0</Comment>- <DataType>DINT</DataType>- <!-- Target Velocity -->- <Name>Target Velocity</Name>- <Comment>object 0x60FF:0</Comment>- <DataType>DINT</DataType>- <!--Touch Probe Function-->- <Name>Touch Probe Function</Name>- <Comment>object 0x60B8:0</Comment>- <DataType>UINT</DataType>- <!-- Mode of Operation -->- <Name>Mode of Operation</Name>- <Comment>object 0x6060:0</Comment>- <DataType>SINT</DataType>- <TxPdo Sm="3" Fixed="1">- <Name>Transmit PDO mapping</Name>- <Exclude>#x1A01</Exclude>- <Exclude>#x1A02</Exclude>- <Name>Statusword</Name>- <Comment>object 0x6041:0</Comment>- <DataType>UINT</DataType>- <!-- Actual Position -->- <Name>Position actual value</Name>- <Comment>object 0x6064:0</Comment>- <DataType>DINT</DataType>- <!-- Actual Toruque -->- <Name>Torque actual value</Name>- <Comment>object 0x6077:0</Comment>- <DataType>INT</DataType>- <!-- Mode of Operation Display -->- <Name>Modes of operation display</Name>- <Comment>object 0x6061:0</Comment>- <DataType>SINT</DataType>- <Name>Transmit PDO mapping</Name>- <Exclude>#x1A00</Exclude>- <Exclude>#x1A02</Exclude>- <Name>Statusword</Name>- <Comment>object 0x6041:0</Comment>- <DataType>UINT</DataType>- <!-- Actual Position -->- <Name>Position actual value</Name>- <Comment>object 0x6064:0</Comment>- <DataType>DINT</DataType>- <!-- Actual Velocity-->- <Name> Actual Velocity</Name>- <Comment>object 0x606C:0</Comment>- <DataType>DINT</DataType>- <!-- Actual Toruque -->- <Name>Torque actual value</Name>- <Comment>object 0x6077:0</Comment>- <DataType>INT</DataType>- <!-- Mode of Operation Display -->- <Name>Modes of operation display</Name>- <Comment>object 0x6061:0</Comment>- <DataType>SINT</DataType>- <Name>Transmit PDO mapping</Name>- <Exclude>#x1A00</Exclude>- <Exclude>#x1A01</Exclude>- <Name>Statusword</Name>- <Comment>object 0x6041:0</Comment>- <DataType>UINT</DataType>- <!-- Actual Position -->- <Name>Position actual value</Name>- <Comment>object 0x6064:0</Comment>- <DataType>DINT</DataType>- <!-- Actual Velocity-->- <Name> Actual Velocity</Name>- <Comment>object 0x606C:0</Comment>- <DataType>DINT</DataType>- <!--Touch Probe Status-->- <Name>Touch Probe Status</Name>- <Comment>object 0x60B9:0</Comment>- <DataType>UINT</DataType>- <!--Touch Probe Pos1 Pos Value-->- <Name>Touch Probe Pos1 Pos Value</Name>- <Comment>object 0x60BA:0</Comment>- <DataType>DINT</DataType>- <!--Touch Probe Pos1 Neg Value-->- <Name>Touch Probe Pos1 Neg Value</Name>- <Comment>object 0x60BB:0</Comment>- <DataType>DINT</DataType>- <Name>Digital Inputs</Name>- <Comment>object 0x60FD:0</Comment>- <DataType>UDINT</DataType>- <!-- Mode of Operation Display -->- <Name>Modes of operation display</Name>- <Comment>object 0x6061:0</Comment>- <DataType>SINT</DataType>- <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"/>- <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>- <AssignActivate>#x0000</AssignActivate>- <ByteSize>2048</ByteSize>- <ConfigData>080C0244320000000000</ConfigData>- <Image16x14>DRIVE</Image16x14>--- /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"> + <Name>HIGEN Motor Co., Ltd.</Name> + <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14> + <Group SortOrder="520"> + <Name LcId="1033">Drives</Name> + <Image16x14>DRIVE</Image16x14> + <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> + <Behavior StartToSafeopNoSync="false" /> + <GroupType>Drive</GroupType> + <ProfileNo>402</ProfileNo> + <Name>STRING(12)</Name> + <Name>largest sub-index supported</Name> + <Name>Product code</Name> + <Name>largest sub-index supported</Name> + <Name>1 mapping data</Name> + <Name>2 mapping data</Name> + <Name>3 mapping data</Name> + <Name>4 mapping data</Name> + <Name>5 mapping data</Name> + <Name>6 mapping data</Name> + <Name>largest sub-index supported</Name> + <Name>1 mapping data</Name> + <Name>2 mapping data</Name> + <Name>3 mapping data</Name> + <Name>4 mapping data</Name> + <Name>5 mapping data</Name> + <Name>largest sub-index supported</Name> + <Name>1 mapping data</Name> + <Name>2 mapping data</Name> + <Name>3 mapping data</Name> + <Name>4 mapping data</Name> + <Name>5 mapping data</Name> + <Name>6 mapping data</Name> + <Name>7 mapping data</Name> + <Name>8 mapping data</Name> + <Name>9 mapping data</Name> + <Name>largest sub-index supported</Name> + <Name>largest sub-index supported</Name> + <Name>Cycle time</Name> + <Name>Shift time</Name> + <Name>Sync modes supported</Name> + <Name>Minimum cycle time</Name> + <Name>Calc and copy time</Name> + <Name>Get cycle time</Name> + <Name>Delay time</Name> + <Name>Sync0 time</Name> + <Name>Cycle exceeded counter</Name> + <Name>SM event missed counter</Name> + <Name>Shift too short counter</Name> + <Name>Sync error</Name> + <PdoMapping>RT</PdoMapping> + <Name>largest sub-index supported</Name> + <Name>Minimum Software position limit</Name> + <Name>Maximum Software position limit</Name> + <Name>largest sub-index supported</Name> + <Name>Speed during search for switch</Name> + <Name>Speed during search for zero</Name> + <Name>largest sub-index supported</Name> + <Name>Physical output</Name> + <PdoMapping>RT</PdoMapping> + <Name>largest sub-index supported</Name> + <Name>Alarm history 1</Name> + <Name>Alarm history 2</Name> + <Name>Alarm history 3</Name> + <Name>Alarm history 4</Name> + <Name>Alarm history 5</Name> + <Name>Alarm history 6</Name> + <Name>Alarm history 7</Name> + <Name>Alarm history 8</Name> + <Name>Alarm history 9</Name> + <Name>Alarm history 10</Name> + <Name>Alarm Reset</Name> + <Name>largest sub-index supported</Name> + <Name>Invalid Frame Counter</Name> + <Name>Rx Error Counter</Name> + <Name>Lost Link Counter</Name> + <Name>Counter Reset</Name> + <Name>largest sub-index supported</Name> + <Name>Encoder increments</Name> + <Name>Motor revolutions</Name> + <Name>largest sub-index supported</Name> + <Name>Encoder incremets per second</Name> + <Name>Motor revolutions per second</Name> + <Name>largest sub-index supported</Name> + <Name>Shaft revolutions</Name> + <Name>largest sub-index supported</Name> + <Name>1 mapping data</Name> + <Name>2 mapping data</Name> + <Name>3 mapping data</Name> + <Name>4 mapping data</Name> + <Name>5 mapping data</Name> + <Name>6 mapping data</Name> + <Name>7 mapping data</Name> + <Name>Ripple COMPEN</Name> + <DefaultData>00</DefaultData> + <Name>Device type</Name> + <DefaultData>92010200</DefaultData> + <Name>Error register</Name> + <DefaultData>00</DefaultData> + <Name>Identity object</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <DefaultData>00000625</DefaultData> + <Name>Product code</Name> + <DefaultData>69686555</DefaultData> + <!-- EDA7 ascii code --> + <Name>1st receive PDO mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>06</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004060</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>20007A60</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>2000FF60</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>10007160</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>08006060</DefaultData> + <Name>6 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>2nd receive PDO mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>06</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004060</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>2000FF60</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>1000E060</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>1000E160</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>08060060</DefaultData> + <Name>6 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>3rd receive PDO mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>06</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004060</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>20007A60</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>2000FF60</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>1000B860</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>08060060</DefaultData> + <Name>6 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>1st transmit PDO-Mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>01</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004160</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>20006460</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>10007760</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>08006160</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>2nd transmit PDO-Mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>07</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004160</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>20006460</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>20006C60</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>10007760</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>10005120</DefaultData> + <Name>6 mapping data</Name> + <DefaultData>08006160</DefaultData> + <Name>7 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>3rd transmit PDO-Mapping</Name> + <Name>largest sub-index supported</Name> + <DefaultData>09</DefaultData> + <Name>1 mapping data</Name> + <DefaultData>10004160</DefaultData> + <Name>2 mapping data</Name> + <DefaultData>20006460</DefaultData> + <Name>3 mapping data</Name> + <DefaultData>20006C60</DefaultData> + <Name>4 mapping data</Name> + <DefaultData>1000B960</DefaultData> + <Name>5 mapping data</Name> + <DefaultData>2000BA60</DefaultData> + <Name>6 mapping data</Name> + <DefaultData>2000BB60</DefaultData> + <Name>7 mapping data</Name> + <DefaultData>2000FD60</DefaultData> + <Name>8 mapping data</Name> + <DefaultData>08006160</DefaultData> + <Name>9 mapping data</Name> + <DefaultData>08000000</DefaultData> + <Name>RxPDO assign</Name> + <Name>largest sub-index supported</Name> + <DefaultData>01</DefaultData> + <DefaultData>0016</DefaultData> + <Name>TxPDO assign</Name> + <Name>largest sub-index supported</Name> + <DefaultData>01</DefaultData> + <DefaultData>001A</DefaultData> + <Name>SM output parameter</Name> + <Name>largest sub-index supported</Name> + <DefaultData>32</DefaultData> + <DefaultData>0200</DefaultData> + <Name>Cycle time</Name> + <DefaultData>00350C00</DefaultData> + <Name>Shift time</Name> + <DefaultData>00000000</DefaultData> + <Name>Sync modes supported</Name> + <DefaultData>2500</DefaultData> + <Name>Minimum cycle time</Name> + <DefaultData>00350C00</DefaultData> + <Name>Calc and copy time</Name> + <DefaultData>50C30000</DefaultData> + <Name>Get cycle time</Name> + <DefaultData>00000000</DefaultData> + <Name>Delay time</Name> + <DefaultData>A0860100</DefaultData> + <Name>Sync0 time</Name> + <DefaultData>00000000</DefaultData> + <Name>Cycle exceeded counter</Name> + <DefaultData>00000000</DefaultData> + <Name>SM event missed counter</Name> + <DefaultData>00000000</DefaultData> + <Name>Shift too short counter</Name> + <DefaultData>00000000</DefaultData> + <Name>Sync error</Name> + <DefaultData>0000</DefaultData> + <Name>SM input parameter</Name> + <Name>largest sub-index supported</Name> + <DefaultData>32</DefaultData> + <DefaultData>0200</DefaultData> + <Name>Cycle time</Name> + <DefaultData>00350C00</DefaultData> + <Name>Shift time</Name> + <DefaultData>400D0300</DefaultData> + <Name>Sync modes supported</Name> + <DefaultData>2500</DefaultData> + <Name>Minimum cycle time</Name> + <DefaultData>00350C00</DefaultData> + <Name>Calc and copy time</Name> + <DefaultData>50C30000</DefaultData> + <Name>Get cycle time</Name> + <DefaultData>00000000</DefaultData> + <Name>Delay time</Name> + <DefaultData>A0860100</DefaultData> + <Name>Sync0 time</Name> + <DefaultData>00000000</DefaultData> + <Name>Cycle exceeded counter</Name> + <DefaultData>00000000</DefaultData> + <Name>SM event missed counter</Name> + <DefaultData>00000000</DefaultData> + <Name>Shift too short counter</Name> + <DefaultData>00000000</DefaultData> + <Name>Sync error</Name> + <DefaultData>0000</DefaultData> + <Name>Drive ID (P01-11)</Name> + <DefaultData>0000</DefaultData> + <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name> + <DefaultData>09</DefaultData> + <Name>Pulse Out Rate (P01-14)</Name> + <DefaultData>00020000</DefaultData> + <Name>Serial ID[15:8], Baud Rate[7:0] (P01-18, P01-15)</Name> + <DefaultData>0100</DefaultData> + <Name>ABS Origin[15:8], Parameter Lock[7:0] (P01-20, P01-19)</Name> + <DefaultData>0000</DefaultData> + <Name>Mode Change Time (x0.1ms) (P02-02)</Name> + <DefaultData>0000000A</DefaultData> + <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name> + <DefaultData>00000000</DefaultData> + <Name>Internal CW Speed Limit (x0.1rpm) (P02-06)</Name> + <DefaultData>00000000</DefaultData> + <Name>Brake Speed (x0.1rpm) (P02-07)</Name> + <DefaultData>000001F4</DefaultData> + <Name>Brake Time (x0.1ms) (P02-08)</Name> + <DefaultData>00000032</DefaultData> + <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name> + <DefaultData>0000000A</DefaultData> + <Name>Notch Filter 1 Mode (P02-10)</Name> + <DefaultData>00</DefaultData> + <Name>Notch Filter 1 Frequency (x0.1Hz) (P02-11)</Name> + <DefaultData>00000BB8</DefaultData> + <Name>Notch Filter 1 Bandwidth (x0.1%) (P02-12)</Name> + <DefaultData>000003B6</DefaultData> + <Name>Notch Filter 2 Mode (P02-13)</Name> + <DefaultData>00</DefaultData> + <Name>Notch Filter 2 Frequency (x0.1Hz) (P02-14)</Name> + <DefaultData>00001388</DefaultData> + <Name>Notch Filter 2 Bandwidth (x0.1%) (P02-15)</Name> + <DefaultData>000003B6</DefaultData> + <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name> + <DefaultData>00000000</DefaultData> + <Name>Auto Tuning Mode (P02-17)</Name> + <DefaultData>00</DefaultData> + <Name>System Response (P02-18)</Name> + <DefaultData>00</DefaultData> + <Name>Inertia Ratio (x0.1) (P02-19)</Name> + <DefaultData>00000014</DefaultData> + <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name> + <DefaultData>00001F40</DefaultData> + <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name> + <DefaultData>000003E8</DefaultData> + <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name> + <DefaultData>000005DC</DefaultData> + <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name> + <DefaultData>000005DC</DefaultData> + <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name> + <DefaultData>0003</DefaultData> + <Name>Parameter Initialization (P02-29)</Name> + <DefaultData>00</DefaultData> + <Name>Speed Gain Mode (P03-01)</Name> + <DefaultData>01</DefaultData> + <Name>PI-IP Control Ratio (x0.1%) (P03-02)</Name> + <DefaultData>000003E8</DefaultData> + <Name>Friction Compensation Torque Ratio (x0.1%) (P03-03)</Name> + <DefaultData>00000000</DefaultData> + <Name>Load Compensation Torque Ratio (x0.1%) (P03-04)</Name> + <DefaultData>00000000</DefaultData> + <Name>Speed Control Loop Gain 1 (x0.1Hz) (P03-05)</Name> + <DefaultData>00000000</DefaultData> + <Name>Speed Control Time Constant 1 (x0.1ms) (P03-06)</Name> + <DefaultData>00000000</DefaultData> + <Name>Speed Control Loop Gain 2 (x0.1Hz) (P03-07)</Name> + <DefaultData>00000000</DefaultData> + <Name>Speed Control Time Constant 2 (x0.1ms) (P03-08)</Name> + <DefaultData>00000000</DefaultData> + <Name>S-Mode Time Constant (x0.1ms) (P03-12)</Name> + <DefaultData>00000000</DefaultData> + <Name>Zero Velocity Window (x0.1rpm) (P03-14)</Name> + <DefaultData>00000064</DefaultData> + <Name>Speed Feedback Time Constant (x0.1ms) (P03-22)</Name> + <DefaultData>00000000</DefaultData> + <Name>Zero Velocity Vibration Control (x0.1rpm) (P03-23)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Gain Mode (P05-01)</Name> + <DefaultData>01</DefaultData> + <Name>Position Feedforward Ratio (x0.1%) (P05-04)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Control P Gain 1 (x0.1Hz) (P05-05)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Control P Gain 2 (x0.1Hz) (P05-06)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position PI-P Pulse Error (ppr) (P05-07)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Control Feedforward Time Constant (x0.1ms) (P05-11)</Name> + <DefaultData>00000000</DefaultData> + <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name> + <DefaultData>00000001</DefaultData> + <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name> + <DefaultData>00000001</DefaultData> + <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name> + <DefaultData>00000000</DefaultData> + <Name>Position Control Bias Pulse Band (ppr) (P05-21)</Name> + <DefaultData>000A</DefaultData> + <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name> + <DefaultData>00000000</DefaultData> + <Name>Torque S-Mode Time Constant (x0.1ms) (P06-04)</Name> + <DefaultData>00000000</DefaultData> + <Name>Actual peak torque limit</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Monitor 1 Select (P09-01)</Name> + <DefaultData>00</DefaultData> + <Name>Monitor 1 Absolute (P09-02)</Name> + <DefaultData>00</DefaultData> + <Name>Monitor 1 Scale (x0.1) (P09-03)</Name> + <DefaultData>0000000A</DefaultData> + <Name>Monitor 1 Offset (mV) (P09-04)</Name> + <DefaultData>00000000</DefaultData> + <Name>Monitor 2 Select (P09-05)</Name> + <DefaultData>01</DefaultData> + <Name>Monitor 2 Absolute (P09-06)</Name> + <DefaultData>00</DefaultData> + <Name>Monitor 2 Scale (x0.1) (P09-07)</Name> + <DefaultData>0000000A</DefaultData> + <Name>Monitor 2 Offset (mV) (P09-08)</Name> + <DefaultData>00000000</DefaultData> + <Name>Error Code</Name> + <DefaultData>0000</DefaultData> + <Name>Controlword</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Statusword</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Quick Stop Option Code</Name> + <DefaultData>0600</DefaultData> + <Name>Disable Operation Option Code</Name> + <DefaultData>0200</DefaultData> + <Name>Fault Reaction Option Code</Name> + <DefaultData>FFFF</DefaultData> + <Name>Modes Of Operation</Name> + <DefaultData>08</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Modes Of Operation Display</Name> + <DefaultData>00</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Position Actual Value</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Following Error Window</Name> + <DefaultData>404B4C00</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Position Window</Name> + <DefaultData>F4010000</DefaultData> + <Name>Velocity Actual Value</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name> Velocity Window</Name> + <DefaultData>3200</DefaultData> + <Name>Current actual value</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>DC link circuit voltage</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Target Torque</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Torque Actual Value</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Target Position</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Home Offset</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Software Position Limit</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <Name>Minimum Software position limit</Name> + <DefaultData>00000080</DefaultData> + <Name>Maximum Software position limit</Name> + <DefaultData>ffffff7f</DefaultData> + <DefaultData>00</DefaultData> + <Name>Profile Acceleration</Name> + <DefaultData>FFFFFFFF</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Profile Deceleration</Name> + <DefaultData>ffffffff</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Homing Method</Name> + <DefaultData>00</DefaultData> + <Name>Homing Speeds</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <Name>Speed during search for switch</Name> + <DefaultData>55550300</DefaultData> + <Name>Speed during search for zero</Name> + <DefaultData>88080000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Homing Acceleration</Name> + <DefaultData>ffffffff</DefaultData> + <Name>Touch Probe Fucntion</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Touch Probe Status</Name> + <DefaultData>0000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Touch Probe Pos1 Pos Value</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Touch Probe Pos1 Neg Value</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Positive Torque Limit</Name> + <DefaultData>E803</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Negative Torque Limit</Name> + <DefaultData>E803</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Following Error Actual Value</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Digital Inputs</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>T</PdoMapping> + <Name>Digital Outputs</Name> + <Name>largest sub-index supported</Name> + <DefaultData>01</DefaultData> + <Name>Physical output</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>RT</PdoMapping> + <Name>Target Velocity</Name> + <DefaultData>00000000</DefaultData> + <PdoMapping>R</PdoMapping> + <Name>Supported Drive Mode</Name> + <DefaultData>000003A0</DefaultData> + <Name>Alarm history</Name> + <Name>largest sub-index supported</Name> + <DefaultData>12</DefaultData> + <Name>Alarm history 1</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 2</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 3</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 4</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 5</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 6</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 7</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 8</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 9</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm history 10</Name> + <DefaultData>00000000</DefaultData> + <Name>Alarm Reset</Name> + <DefaultData>00000000</DefaultData> + <Name>Communication Error Counter</Name> + <Name>largest sub-index supported</Name> + <DefaultData>04</DefaultData> + <Name>Invalid Frame Counter</Name> + <DefaultData>0000</DefaultData> + <Name>Rx Error Counter</Name> + <DefaultData>0000</DefaultData> + <Name>Lost Link Counter</Name> + <DefaultData>0000</DefaultData> + <Name>Counter Reset</Name> + <DefaultData>0000</DefaultData> + <Name>Max Motor Speed </Name> + <DefaultData>00004E20</DefaultData> + <Name>Position encoder revolution</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <Name>Encoder increments</Name> + <DefaultData>00000200</DefaultData> + <Name>Motor revolutions</Name> + <DefaultData>01000000</DefaultData> + <Name>Velocity Encoder revolution</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <Name>Encoder incremets per second</Name> + <DefaultData>00000200</DefaultData> + <Name>Motor revolutions per second</Name> + <DefaultData>01000000</DefaultData> + <Name>Feed constant</Name> + <Name>largest sub-index supported</Name> + <DefaultData>02</DefaultData> + <DefaultData>00020000</DefaultData> + <Name>Shaft revolutions</Name> + <DefaultData>00000001</DefaultData> + <Name>Motor catalog number</Name> + <DefaultData>30303030</DefaultData> + <Name>Manufacturer Device Name</Name> + <Type>STRING(12)</Type> + <DefaultData>454441373030300000000000</DefaultData> + <Name>Max torque</Name> + <DefaultData>8813</DefaultData> + <PdoMapping>RT</PdoMapping> + <Name>Redundancy Enable</Name> + <DefaultData>00</DefaultData> + <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> + <Name>Receive PDO mapping</Name> + <Exclude>#x1601</Exclude> + <Exclude>#x1602</Exclude> + <Name>Controlword</Name> + <Comment>object 0x6040:0</Comment> + <DataType>UINT</DataType> + <!-- Target Position --> + <Name>Target Position</Name> + <Comment>object 0x607A:0</Comment> + <DataType>DINT</DataType> + <!-- Target Velocity --> + <Name>Target Velocity</Name> + <Comment>object 0x60FF:0</Comment> + <DataType>DINT</DataType> + <Name>Target Torque</Name> + <Comment>object 0x6071:0</Comment> + <DataType>INT</DataType> + <!-- Mode of Operation --> + <Name>Mode of Operation</Name> + <Comment>object 0x6060:0</Comment> + <DataType>SINT</DataType> + <Name>Receive PDO mapping</Name> + <Exclude>#x1600</Exclude> + <Exclude>#x1602</Exclude> + <Name>Controlword</Name> + <Comment>object 0x6040:0</Comment> + <DataType>UINT</DataType> + <!-- Target Velocity --> + <Name>Target Velocity</Name> + <Comment>object 0x60FF:0</Comment> + <DataType>DINT</DataType> + <!--Positive Torque Limit Value--> + <Name>Positive Torque Limit Value</Name> + <Comment>object 0x60E0:0</Comment> + <DataType>UINT</DataType> + <!--Negative Torque Limit Value--> + <Name>Negative Torque Limit Value</Name> + <Comment>object 0x60E1:0</Comment> + <DataType>UINT</DataType> + <!-- Mode of Operation --> + <Name>Mode of Operation</Name> + <Comment>object 0x6060:0</Comment> + <DataType>SINT</DataType> + <Name>Receive PDO mapping</Name> + <Exclude>#x1600</Exclude> + <Exclude>#x1601</Exclude> + <Name>Controlword</Name> + <Comment>object 0x6040:0</Comment> + <DataType>UINT</DataType> + <!-- Target Position --> + <Name>Target Position</Name> + <Comment>object 0x607A:0</Comment> + <DataType>DINT</DataType> + <!-- Target Velocity --> + <Name>Target Velocity</Name> + <Comment>object 0x60FF:0</Comment> + <DataType>DINT</DataType> + <!--Touch Probe Function--> + <Name>Touch Probe Function</Name> + <Comment>object 0x60B8:0</Comment> + <DataType>UINT</DataType> + <!-- Mode of Operation --> + <Name>Mode of Operation</Name> + <Comment>object 0x6060:0</Comment> + <DataType>SINT</DataType> + <Name>Transmit PDO mapping</Name> + <Exclude>#x1A01</Exclude> + <Exclude>#x1A02</Exclude> + <Name>Statusword</Name> + <Comment>object 0x6041:0</Comment> + <DataType>UINT</DataType> + <!-- Actual Position --> + <Name>Position actual value</Name> + <Comment>object 0x6064:0</Comment> + <DataType>DINT</DataType> + <!-- Actual Toruque --> + <Name>Torque actual value</Name> + <Comment>object 0x6077:0</Comment> + <DataType>INT</DataType> + <!-- Mode of Operation Display --> + <Name>Modes of operation display</Name> + <Comment>object 0x6061:0</Comment> + <DataType>SINT</DataType> + <Name>Transmit PDO mapping</Name> + <Exclude>#x1A00</Exclude> + <Exclude>#x1A02</Exclude> + <Name>Statusword</Name> + <Comment>object 0x6041:0</Comment> + <DataType>UINT</DataType> + <!-- Actual Position --> + <Name>Position actual value</Name> + <Comment>object 0x6064:0</Comment> + <DataType>DINT</DataType> + <!-- Actual Velocity--> + <Name> Actual Velocity</Name> + <Comment>object 0x606C:0</Comment> + <DataType>DINT</DataType> + <!-- Actual Toruque --> + <Name>Torque actual value</Name> + <Comment>object 0x6077:0</Comment> + <DataType>INT</DataType> + <!--Actual peak torque limit--> + <Name>Actual peak torque limit</Name> + <Comment>object 0x2051:0</Comment> + <DataType>UINT</DataType> + <!-- Mode of Operation Display --> + <Name>Modes of operation display</Name> + <Comment>object 0x6061:0</Comment> + <DataType>SINT</DataType> + <Name>Transmit PDO mapping</Name> + <Exclude>#x1A00</Exclude> + <Exclude>#x1A01</Exclude> + <Name>Statusword</Name> + <Comment>object 0x6041:0</Comment> + <DataType>UINT</DataType> + <!-- Actual Position --> + <Name>Position actual value</Name> + <Comment>object 0x6064:0</Comment> + <DataType>DINT</DataType> + <!-- Actual Velocity--> + <Name> Actual Velocity</Name> + <Comment>object 0x606C:0</Comment> + <DataType>DINT</DataType> + <!--Touch Probe Status--> + <Name>Touch Probe Status</Name> + <Comment>object 0x60B9:0</Comment> + <DataType>UINT</DataType> + <!--Touch Probe Pos1 Pos Value--> + <Name>Touch Probe Pos1 Pos Value</Name> + <Comment>object 0x60BA:0</Comment> + <DataType>DINT</DataType> + <!--Touch Probe Pos1 Neg Value--> + <Name>Touch Probe Pos1 Neg Value</Name> + <Comment>object 0x60BB:0</Comment> + <DataType>DINT</DataType> + <Name>Digital Inputs</Name> + <Comment>object 0x60FD:0</Comment> + <DataType>UDINT</DataType> + <!-- Mode of Operation Display --> + <Name>Modes of operation display</Name> + <Comment>object 0x6061:0</Comment> + <DataType>SINT</DataType> + <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"></CoE> + <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> + <AssignActivate>#x0000</AssignActivate> + <ByteSize>2048</ByteSize> + <ConfigData>080C0244320000000000</ConfigData> + <Image16x14>DRIVE</Image16x14> \ 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"- creationDateTime="2011-10-20T19:01:52"/>- <contentHeader name="test_ethercat"- modificationDateTime="2012-10-30T00:18:20">- <pou name="Prog" pouType="program">- <variable name="CLOCK" address="%QX0.0.2.28672.1">- <variable name="GREENLED" address="%QX0.0.2.28688.1">- <simpleValue value="TRUE"/>- <variable name="ControlWord" address="%QW0.0.3.24640.0">- <variable name="StatusWord" address="%IW0.0.3.24641.0">- <variable name="ModeDisplay" address="%IB0.0.3.24673.0">- <variable name="ActualPosition" address="%ID0.0.3.24676.0">- <variable name="TargetPosition" address="%QD0.0.3.24698.0">-<![CDATA[CLOCK := NOT CLOCK;]]>- <pou name="test_MCL" pouType="program">- <variable name="CLOCK">- <variable name="Axis" address="%IW0.0.3.0">- <derived name="AXIS_REF"/>- <variable name="switch">- <derived name="MC_Power"/>- <variable name="move1">- <derived name="MC_MoveAbsolute"/>- <variable name="EtherLabSDOUpload0">- <derived name="EtherLabSDOUpload"/>- <variable name="ActualPosition">- <variable name="Valid">- <inVariable localId="1" height="27" width="53">- <position x="45" y="36"/>- <relPosition x="53" y="13"/>- <expression>CLOCK</expression>- <block localId="2" width="111" height="116" typeName="ADD">- <position x="149" y="5"/>- <variable formalParameter="IN1">- <relPosition x="0" y="44"/>- <connection refLocalId="1">- <position x="149" y="49"/>- <position x="98" y="49"/>- <variable formalParameter="IN2">- <relPosition x="0" y="92"/>- <connection refLocalId="3">- <position x="149" y="97"/>- <position x="98" y="97"/>- <variable formalParameter="OUT">- <relPosition x="111" y="44"/>- <inVariable localId="3" height="27" width="18">- <position x="80" y="84"/>- <relPosition x="18" y="13"/>- <expression>1</expression>- <outVariable localId="4" height="27" width="53">- <position x="302" y="36"/>- <relPosition x="0" y="13"/>- <connection refLocalId="2" formalParameter="OUT">- <position x="302" y="49"/>- <position x="260" y="49"/>- <expression>CLOCK</expression>- <inVariable localId="5" height="27" width="53">- <position x="46" y="234"/>- <relPosition x="53" y="13"/>- <expression>CLOCK</expression>- <inVariable localId="6" height="27" width="50">- <position x="49" y="268"/>- <relPosition x="50" y="13"/>- <expression>4000</expression>- <block localId="7" width="99" height="89" typeName="GT">- <position x="155" y="210"/>- <variable formalParameter="IN1">- <relPosition x="0" y="37"/>- <connection refLocalId="5">- <position x="155" y="247"/>- <position x="99" y="247"/>- <variable formalParameter="IN2">- <relPosition x="0" y="71"/>- <connection refLocalId="6">- <position x="155" y="281"/>- <position x="99" y="281"/>- <variable formalParameter="OUT">- <relPosition x="99" y="37"/>- <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">- <position x="398" y="173"/>- <variable formalParameter="Axis">- <relPosition x="0" y="38"/>- <connection refLocalId="9">- <position x="398" y="211"/>- <position x="344" y="211"/>- <variable formalParameter="Enable">- <relPosition x="0" y="74"/>- <connection refLocalId="7" formalParameter="OUT">- <position x="398" y="247"/>- <position x="254" y="247"/>- <variable formalParameter="EnablePositive">- <relPosition x="0" y="110"/>- <variable formalParameter="EnableNegative">- <relPosition x="0" y="146"/>- <variable formalParameter="Axis">- <relPosition x="159" y="38"/>- <variable formalParameter="Status">- <relPosition x="159" y="74"/>- <variable formalParameter="Valid">- <relPosition x="159" y="110"/>- <variable formalParameter="Error">- <relPosition x="159" y="146"/>- <variable formalParameter="ErrorID">- <relPosition x="159" y="182"/>- <inVariable localId="9" height="27" width="36">- <position x="308" y="198"/>- <relPosition x="36" y="13"/>- <expression>Axis</expression>- <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">- <position x="744" y="173"/>- <variable formalParameter="Axis">- <relPosition x="0" y="38"/>- <connection refLocalId="8" formalParameter="Axis">- <position x="744" y="211"/>- <position x="557" y="211"/>- <variable formalParameter="Execute">- <relPosition x="0" y="74"/>- <connection refLocalId="8" formalParameter="Status">- <position x="744" y="247"/>- <position x="557" y="247"/>- <variable formalParameter="ContinuousUpdate">- <relPosition x="0" y="110"/>- <variable formalParameter="Position">- <relPosition x="0" y="146"/>- <connection refLocalId="11">- <position x="744" y="319"/>- <position x="672" y="319"/>- <variable formalParameter="Velocity">- <relPosition x="0" y="182"/>- <connection refLocalId="12">- <position x="744" y="355"/>- <position x="671" y="355"/>- <variable formalParameter="Acceleration">- <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"/>- <variable formalParameter="Deceleration">- <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"/>- <variable formalParameter="Jerk">- <relPosition x="0" y="290"/>- <variable formalParameter="Direction">- <relPosition x="0" y="326"/>- <variable formalParameter="BufferMode">- <relPosition x="0" y="362"/>- <variable formalParameter="Axis">- <relPosition x="252" y="38"/>- <variable formalParameter="Done">- <relPosition x="252" y="74"/>- <variable formalParameter="Busy">- <relPosition x="252" y="110"/>- <variable formalParameter="Active">- <relPosition x="252" y="146"/>- <variable formalParameter="CommandAborted">- <relPosition x="252" y="182"/>- <variable formalParameter="Error">- <relPosition x="252" y="218"/>- <variable formalParameter="ErrorID">- <relPosition x="252" y="254"/>- <inVariable localId="11" height="27" width="54">- <position x="630" y="306"/>- <relPosition x="54" y="13"/>- <expression>1800.0</expression>- <inVariable localId="12" height="27" width="46">- <position x="637" y="342"/>- <relPosition x="46" y="13"/>- <expression>360.0</expression>- <block localId="14" width="162" height="216" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">- <position x="1207" y="208"/>- <variable formalParameter="EXECUTE">- <relPosition x="0" y="39"/>- <connection refLocalId="10" formalParameter="Done">- <position x="1207" y="247"/>- <position x="996" y="247"/>- <variable formalParameter="POS">- <relPosition x="0" y="78"/>- <connection refLocalId="15">- <position x="1207" y="286"/>- <position x="1156" y="286"/>- <variable formalParameter="INDEX">- <relPosition x="0" y="117"/>- <connection refLocalId="16">- <position x="1207" y="325"/>- <position x="1156" y="325"/>- <variable formalParameter="SUBINDEX">- <relPosition x="0" y="156"/>- <connection refLocalId="17">- <position x="1207" y="364"/>- <position x="1156" y="364"/>- <variable formalParameter="VARTYPE">- <relPosition x="0" y="195"/>- <connection refLocalId="18">- <position x="1207" y="403"/>- <position x="1156" y="403"/>- <variable formalParameter="ACK">- <relPosition x="162" y="39"/>- <variable formalParameter="VALID">- <relPosition x="162" y="78"/>- <variable formalParameter="VALUE">- <relPosition x="162" y="117"/>- <inVariable localId="15" height="27" width="35">- <position x="1121" y="273"/>- <relPosition x="35" y="13"/>- <expression>3</expression>- <inVariable localId="16" height="27" width="68">- <position x="1088" y="312"/>- <relPosition x="68" y="13"/>- <expression>16#6064</expression>- <inVariable localId="17" height="27" width="32">- <position x="1124" y="351"/>- <relPosition x="32" y="13"/>- <expression>0</expression>- <inVariable localId="18" height="27" width="52">- <position x="1104" y="390"/>- <relPosition x="52" y="13"/>- <expression>'int32'</expression>- <outVariable localId="19" height="27" width="109">- <position x="1576" y="312"/>- <relPosition x="0" y="13"/>- <connection refLocalId="20" formalParameter="OUT">- <position x="1576" y="325"/>- <position x="1539" y="325"/>- <expression>ActualPosition</expression>- <block localId="20" width="126" height="40" typeName="STRING_TO_DINT">- <position x="1413" y="295"/>- <variable formalParameter="IN">- <relPosition x="0" y="30"/>- <connection refLocalId="14" formalParameter="VALUE">- <position x="1413" y="325"/>- <position x="1369" y="325"/>- <variable formalParameter="OUT">- <relPosition x="126" y="30"/>- <outVariable localId="21" height="27" width="45">- <position x="1576" y="234"/>- <relPosition x="0" y="13"/>- <connection refLocalId="22" formalParameter="OUT">- <position x="1576" y="247"/>- <position x="1509" y="247"/>- <expression>Valid</expression>- <block localId="22" width="67" height="72" typeName="AND">- <position x="1442" y="214"/>- <variable formalParameter="IN1">- <relPosition x="0" y="33"/>- <connection refLocalId="14" formalParameter="ACK">- <position x="1442" y="247"/>- <position x="1369" y="247"/>- <variable formalParameter="IN2">- <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"/>- <variable formalParameter="OUT">- <relPosition x="67" y="33"/>- <configuration name="conf">- <task name="main_task" interval="T#0.5ms" priority="0">- <pouInstance name="main_instance" typeName="Prog"/>- <pouInstance name="test_MCL_instance" typeName="test_MCL"/>+<?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" + creationDateTime="2011-10-20T19:01:52"/> + <contentHeader name="test_ethercat" + modificationDateTime="2013-04-30T00:35:53"> + <pou name="Prog" pouType="program"> + <variable name="CLOCK" address="%QX0.0.2.28672.1"> + <variable name="GREENLED" address="%QX0.0.2.28688.1"> + <simpleValue value="TRUE"/> + <variable name="ControlWord" address="%QW0.0.3.24640.0"> + <variable name="StatusWord" address="%IW0.0.3.24641.0"> + <variable name="Mode" address="%QB0.0.3.24672.0"> + <variable name="ModeDisplay" address="%IB0.0.3.24673.0"> + <variable name="ActualPosition" address="%ID0.0.3.24676.0"> + <variable name="ActualVelocity" address="%ID0.0.3.24684.0"> + <variable name="TargetPosition" address="%QD0.0.3.24698.0"> + <variable name="TargetVelocity" address="%QD0.0.3.24831.0"> + <variable name="DigitalInputs" address="%ID0.0.3.24829.0"> +<![CDATA[CLOCK := NOT CLOCK;]]> + <pou 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