19455 lines
513 KiB
XML
19455 lines
513 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!-- edited with XMLSpy v2013 (http://www.altova.com) by () -->
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<!--fix od list according to LMS V1.01-->
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<!--add 225C OD 20191226 V1.02-->
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<!--add 607E OD 20191231 V1.03-->
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<!--2000h bit size fixed 20200303 V1.04-->
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<!--some OD fixed 20200601 V1.05-->
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<!--2001h fixed 20200701 V1.06-->
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<!--delete 882 20201207 V1.07-->
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<!--New Product:DM3C-882AC 20210908 V1.08-->
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<EtherCATInfo Version="1.73" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<Vendor FileVersion="20190226">
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<Id>17185</Id>
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<Name LcId="1033">Leadshine Technology Co.,Ltd.</Name>
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<Name LcId="2052">深圳市雷赛智能控制股份有限公司</Name>
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<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
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</Vendor>
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<Descriptions>
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<Groups>
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<Group>
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<Type>Stepper Drive</Type>
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<Name LcId="1033">Stepper Drives</Name>
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<Name LcId="2052">步进驱动器</Name>
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<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
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</Group>
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</Groups>
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<Devices>
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<Device Physics="YY">
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<Type ProductCode="#x8600" RevisionNo="#x0001">DM3C-EC556</Type>
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<Name LcId="1033"><![CDATA[DM3C-EC556(COE)]]></Name>
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<Comment LcId="1033">50VDC/5.6A Stepper Drive</Comment>
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<Comment LcId="2052">50VDC/5.6A 步进驱动器</Comment>
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<URL LcId="1033">http://www.leadshine.com</URL>
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<URL LcId="2052">http://www.leisai.com</URL>
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<Info>
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<StateMachine>
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<Timeout>
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<PreopTimeout>2000</PreopTimeout>
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<SafeopOpTimeout>9000</SafeopOpTimeout>
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<BackToInitTimeout>5000</BackToInitTimeout>
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<BackToSafeopTimeout>200</BackToSafeopTimeout>
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</Timeout>
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<Behavior StartToSafeopNoSync="true"/>
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</StateMachine>
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<Mailbox>
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<Timeout>
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<RequestTimeout>100</RequestTimeout>
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<ResponseTimeout>5000</ResponseTimeout>
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</Timeout>
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</Mailbox>
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<IdentificationReg134>false</IdentificationReg134>
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</Info>
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<GroupType>Stepper Drive</GroupType>
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<Profile>
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<ChannelInfo>
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<ProfileNo>402</ProfileNo>
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</ChannelInfo>
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<Dictionary>
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<DataTypes>
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<DataType>
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<Name>SINT</Name>
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<!--Signed short integer-->
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<BitSize>8</BitSize>
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</DataType>
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<DataType>
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<Name>USINT</Name>
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<!--Unsigned short integer-->
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<BitSize>8</BitSize>
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</DataType>
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<DataType>
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<Name>INT</Name>
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<!--Signed integer-->
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<BitSize>16</BitSize>
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</DataType>
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<DataType>
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<Name>UINT</Name>
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<!--Unsigned integer-->
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<BitSize>16</BitSize>
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</DataType>
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<DataType>
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<Name>DINT</Name>
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<!--Signed double integer-->
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<BitSize>32</BitSize>
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</DataType>
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<DataType>
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<Name>UDINT</Name>
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<!--Unsigned double integer-->
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<BitSize>32</BitSize>
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</DataType>
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<DataType>
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<Name>LINT</Name>
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<!--Signed 64-bit integer-->
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<BitSize>64</BitSize>
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</DataType>
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<DataType>
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<Name>ULINT</Name>
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<!--Unsigned 64-bit integer-->
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<BitSize>64</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(25)</Name>
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<BitSize>200</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(7)</Name>
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<BitSize>56</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(5)</Name>
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<BitSize>40</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(20)</Name>
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<BitSize>160</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(40)</Name>
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<BitSize>320</BitSize>
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</DataType>
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<DataType>
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<Name>STRING(136)</Name>
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<BitSize>1088</BitSize>
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</DataType>
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<DataType>
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<Name>ARRAY [0..4] OF UINT</Name>
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<BaseType>UINT</BaseType>
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<!--Trajectory segment-->
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<BitSize>80</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>5</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>ARRAY [0..13] OF UINT</Name>
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|
<BaseType>UINT</BaseType>
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<!--Bi-quad filter coefficients-->
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<BitSize>224</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>14</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>ARRAY [0..15] OF UINT</Name>
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<BaseType>UINT</BaseType>
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<!--I/O extension data-->
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<BitSize>256</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>16</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>ARRAY [0..2] OF UINT</Name>
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<BaseType>UINT</BaseType>
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<!--Trace Trigger Config-->
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<BitSize>48</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>3</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>ARRAY [0..23] OF UINT</Name>
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<BaseType>UINT</BaseType>
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<!--Input shaping filter-->
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<BitSize>384</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>24</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>ARRAY [0..16383] OF UINT</Name>
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<BaseType>UINT</BaseType>
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<!--Variable length data set-->
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<BitSize>262144</BitSize>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>16384</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name>DT1010</Name>
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<BitSize>144</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Number of Entries</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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<Access>ro</Access>
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<Category>o</Category>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>1</SubIdx>
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<Name>Save all parameters</Name>
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<Type>UDINT</Type>
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<BitSize>32</BitSize>
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<BitOffs>16</BitOffs>
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<Flags>
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<Access>rw</Access>
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|
<Category>o</Category>
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</Flags>
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|
</SubItem>
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<SubItem>
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|
<SubIdx>2</SubIdx>
|
|
<Name>Save communication parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
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|
<BitOffs>48</BitOffs>
|
|
<Flags>
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|
<Access>rw</Access>
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|
<Category>o</Category>
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|
</Flags>
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|
</SubItem>
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|
<SubItem>
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|
<SubIdx>3</SubIdx>
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|
<Name>Save application parameters</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
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|
<Category>o</Category>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Save manufacturer parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
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|
</DataType>
|
|
<DataType>
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|
<Name>DT1011</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Restore all default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Restore communication default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Restore application default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Restore manufacturer default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
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|
<Access>rw</Access>
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|
<Category>o</Category>
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|
</Flags>
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|
</SubItem>
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|
</DataType>
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<DataType>
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<Name>DT1018</Name>
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<BitSize>144</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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|
<Name>Number of Entries</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
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</Flags>
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</SubItem>
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<SubItem>
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|
<SubIdx>1</SubIdx>
|
|
<Name>Vendor ID</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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|
<BitOffs>16</BitOffs>
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|
<Flags>
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<Access>ro</Access>
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</Flags>
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|
</SubItem>
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|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Revision Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
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|
<BitOffs>80</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Serial Number</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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|
<BitOffs>112</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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|
</DataType>
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|
<DataType>
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|
<Name>DT10F1</Name>
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|
<BitSize>64</BitSize>
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|
<SubItem>
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|
<SubIdx>0</SubIdx>
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|
<Name>Number of Entries</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Local Error Reaction</Name>
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|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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|
<BitOffs>16</BitOffs>
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|
<Flags>
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|
<Access>rw</Access>
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|
</Flags>
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|
</SubItem>
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|
<SubItem>
|
|
<SubIdx>2</SubIdx>
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|
<Name>Sync Error Counter Limit</Name>
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|
<Type>UINT</Type>
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|
<BitSize>16</BitSize>
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|
<BitOffs>48</BitOffs>
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|
<Flags>
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|
<Access>rw</Access>
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|
</Flags>
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|
</SubItem>
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|
</DataType>
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|
<DataType>
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|
<Name>DT1600</Name>
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|
<BitSize>272</BitSize>
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|
<SubItem>
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|
<SubIdx>0</SubIdx>
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|
<Name>Number of Entries</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1601</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C32</Name>
|
|
<BitSize>480</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 2, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 2, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 2,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 2, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 2, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 2, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>336</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>352</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync Manager 2, Maximum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>17</SubIdx>
|
|
<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>416</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>18</SubIdx>
|
|
<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C33</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 3, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 3, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 3, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 3, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 3, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 3,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 3, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 3, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 3, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2010</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>FIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2019</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Reached Pulse Compensate</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Disable Reached Mode</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT201A</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Power On Enable Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Turn Off Voltage percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2025</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Open to Close Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open to Close Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close to Open Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Close to Open Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Close to Open Mode Actual Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2081</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2090</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Current Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Current Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Current Loop Saturation Time Constant</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Current Loop Gain Ratio</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Torque Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2091</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Speed Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Speed Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Speed Loop Integral Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Speed Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Speed Loop Sample Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Velocity Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2092</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Position Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Position Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Position Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2152</Name>
|
|
<BitSize>208</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Input 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Input 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Input 3 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Input 4 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Input 5 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Input 6 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2156</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Output 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Output 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3100</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Driver Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>FPGA Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Slave Stack Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3FFE</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Fault Record 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Fault Record 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Fault Record 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Fault Record 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Fault Record 4</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Fault Record 5</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Fault Record 6</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Fault Record 7</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Fault Record 8</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Fault Record 9</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Fault Record 10</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Fault Record 11</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Fault Record 12</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Fault Record 13</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>214</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4000</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor Type</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor Resistance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Motor Inductance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Motor Back EMF Coefficient</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4003</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Break Lock Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Break Release Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Break Release Speed</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4005</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5000</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Trajectory Generator Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motion State Machine</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interior Enable Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Target Reached Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Internal Response Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>EEPROM Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Special Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5002</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Register Address</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Register Data</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5004</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Outputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Inputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync0 Watch Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync0 Drift Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync0 Drift Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>SM Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>SM Watch Dog Value Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync0 Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Function Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync0 Interval</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5012</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Home Reached Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Home Triggered Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Home IO Simulator</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Home Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Home Speed Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5015</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Internal Command Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Internal Command Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Internal Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Internal Reserve 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Profile Mode Setting 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Profile Mode Setting 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Reserve 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Internal Reserve 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5400</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>DC Period Minimux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>DC Period Maximux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5500</Name>
|
|
<BitSize>336</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Number of Turns of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Single Turn Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Low Position of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>High Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Low Mechanical Position</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>High Mechanical Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Encoder Communication Error Counter</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Manufacture Reserve High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Manufacture Use Low </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>272</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Manufacture Use High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5501</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Actual Motor Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Command Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Command</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Actual Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Relative Position Error</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Position Command</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Overload Rate</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Regenrative Resistance Load Ratio</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Inertia Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Positive Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Negative Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>U Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>V Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5502</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Digital Input Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Digital Output Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Analog Input 1 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Analog Input 2 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>DC Link Circuit Voltage</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>IPM Temperature</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Operation Time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>116</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT607D</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Negative software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Positive software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT608F</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Encoder increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6091</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6092</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Feed increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6099</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60A4</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Profile Jerk 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Profile Jerk 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C1</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolated position value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolated time value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interpolated velocity value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolation Time Value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolation Time Units</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60FE</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Physical Outputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Bit Mask</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device Type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1001</Index>
|
|
<Name>Error Register</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1008</Index>
|
|
<Name>Device Name</Name>
|
|
<Type>STRING(7)</Type>
|
|
<BitSize>56</BitSize>
|
|
<Info/>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1009</Index>
|
|
<Name>Hardware Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x100A</Index>
|
|
<Name>Software Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1010</Index>
|
|
<Name>Store Parameters</Name>
|
|
<Type>DT1010</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1011</Index>
|
|
<Name>Restore Parameters</Name>
|
|
<Type>DT1011</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1018</Index>
|
|
<Name>Identity Object</Name>
|
|
<Type>DT1018</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x10F1</Index>
|
|
<Name>Error Settings</Name>
|
|
<Type>DT10F1</Type>
|
|
<BitSize>64</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1600</Index>
|
|
<Name>RXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1600</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1601</Index>
|
|
<Name>RXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1601</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1602</Index>
|
|
<Name>RXPDO 3 Mapping Parameter</Name>
|
|
<Type>DT1602</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1603</Index>
|
|
<Name>RXPDO 4 Mapping Parameter</Name>
|
|
<Type>DT1603</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>TXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>TXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>SM Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>SM2(Outputs) PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>SM3(Inputs) PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C32</Index>
|
|
<Name>Output Sync Manager Parameter</Name>
|
|
<Type>DT1C32</Type>
|
|
<BitSize>480</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C33</Index>
|
|
<Name>Input Sync Manager Parameter</Name>
|
|
<Type>DT1C33</Type>
|
|
<BitSize>320</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>Peak Current</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2001</Index>
|
|
<Name>Motor Resolution</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2010</Index>
|
|
<Name>Filter Time</Name>
|
|
<Type>DT2010</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2012</Index>
|
|
<Name>Soft Start Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2013</Index>
|
|
<Name>Auto-tune Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2018</Index>
|
|
<Name>Power On Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2019</Index>
|
|
<Name>Reached Setting</Name>
|
|
<Type>DT2019</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201A</Index>
|
|
<Name>Percentage Parameters</Name>
|
|
<Type>DT201A</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201B</Index>
|
|
<Name>Lock Axis Time When Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201C</Index>
|
|
<Name>Maximum Stop Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201D</Index>
|
|
<Name>Zero Speed Threshold</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2030</Index>
|
|
<Name>Position Loop Control Effort Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2047</Index>
|
|
<Name>Over Voltage Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2056</Index>
|
|
<Name>Fault Detect Configure</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2073</Index>
|
|
<Name>Motor Return After Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2090</Index>
|
|
<Name>Current Loop Parameters</Name>
|
|
<Type>DT2090</Type>
|
|
<BitSize>176</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214A</Index>
|
|
<Name>Slave ID Selector Data</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214B</Index>
|
|
<Name>HMI Display Select</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2150</Index>
|
|
<Name>Slave Alias</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2151</Index>
|
|
<Name>Slave Alias Source</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2152</Index>
|
|
<Name>Inputs Function</Name>
|
|
<Type>DT2152</Type>
|
|
<BitSize>208</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2155</Index>
|
|
<Name>Physical Inputs Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2156</Index>
|
|
<Name>Outputs Function</Name>
|
|
<Type>DT2156</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x225C</Index>
|
|
<Name>Special Function Register </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22A9</Index>
|
|
<Name>Limit Switch Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22B4</Index>
|
|
<Name>E-stop Input Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3100</Index>
|
|
<Name>Firmware Version</Name>
|
|
<Type>DT3100</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3FFE</Index>
|
|
<Name>Fault Record</Name>
|
|
<Type>DT3FFE</Type>
|
|
<BitSize>240</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4000</Index>
|
|
<Name>Motor Parameters</Name>
|
|
<Type>DT4000</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4003</Index>
|
|
<Name>Motor Break Parameters</Name>
|
|
<Type>DT4003</Type>
|
|
<BitSize>112</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4005</Index>
|
|
<Name>Regenerative Resistance Parameters</Name>
|
|
<Type>DT4005</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4500</Index>
|
|
<Name>Current Error ID</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5000</Index>
|
|
<Name>Internal States</Name>
|
|
<Type>DT5000</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5002</Index>
|
|
<Name>ESC Register Interface</Name>
|
|
<Type>DT5002</Type>
|
|
<BitSize>48</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5004</Index>
|
|
<Name>Sync Interface Parameters</Name>
|
|
<Type>DT5004</Type>
|
|
<BitSize>272</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5005</Index>
|
|
<Name>DC Compensate Base Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5006</Index>
|
|
<Name>Sync Error Detect Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5010</Index>
|
|
<Name>Valid Outputs/Inputs Watch Dog Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5011</Index>
|
|
<Name>Internal Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5012</Index>
|
|
<Name>Home Interface</Name>
|
|
<Type>DT5012</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5013</Index>
|
|
<Name>Motor Not Work Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5400</Index>
|
|
<Name>DC Period Setting</Name>
|
|
<Type>DT5400</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5500</Index>
|
|
<Name>Absolute Encoder Monitors</Name>
|
|
<Type>DT5500</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5501</Index>
|
|
<Name>Motion Monitors</Name>
|
|
<Type>DT5501</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5502</Index>
|
|
<Name>Miscellaneous Monitors</Name>
|
|
<Type>DT5502</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x603f</Index>
|
|
<Name>Last Error Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>Control Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>Status Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605A</Index>
|
|
<Name>Quick Stop Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605B</Index>
|
|
<Name>Shutdown option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605C</Index>
|
|
<Name>Disable operation option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605D</Index>
|
|
<Name>Halt option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605E</Index>
|
|
<Name>Fault reaction option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>Modes of Operation</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>Modes of Operation Display</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6062</Index>
|
|
<Name>Commanded Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606B</Index>
|
|
<Name>Commanded Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606C</Index>
|
|
<Name>Actual Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6073</Index>
|
|
<Name>Max Current</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>Profile Target Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607C</Index>
|
|
<Name>Homing Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607E</Index>
|
|
<Name>Polarity</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607F</Index>
|
|
<Name>Max Profile velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6080</Index>
|
|
<Name>Max motor speed</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6081</Index>
|
|
<Name>Profile Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6082</Index>
|
|
<Name>End Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6083</Index>
|
|
<Name>Profile Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6084</Index>
|
|
<Name>Profile Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6085</Index>
|
|
<Name>Quick Stop Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x608F</Index>
|
|
<Name>Position encoder resolution</Name>
|
|
<Type>DT608F</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6092</Index>
|
|
<Name>Feed constant</Name>
|
|
<Type>DT6092</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6098</Index>
|
|
<Name>Homing Method</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6099</Index>
|
|
<Name>Homing Velocity</Name>
|
|
<Type>DT6099</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x609A</Index>
|
|
<Name>Homing Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B0</Index>
|
|
<Name>Position Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B8</Index>
|
|
<Name>Touch Probe Function</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B9</Index>
|
|
<Name>Touch Probe Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BA</Index>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BB</Index>
|
|
<Name>Touch Probe 1 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BC</Index>
|
|
<Name>Touch Probe 2 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BD</Index>
|
|
<Name>Touch Probe 2 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60C2</Index>
|
|
<Name>InterPolation Time Period</Name>
|
|
<Type>DT60C2</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D5</Index>
|
|
<Name>Touch Probe 1 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D6</Index>
|
|
<Name>Touch Probe 1 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D7</Index>
|
|
<Name>Touch Probe 2 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D8</Index>
|
|
<Name>Touch Probe 2 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FD</Index>
|
|
<Name>Digital Inputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FE</Index>
|
|
<Name>Digital Outputs</Name>
|
|
<Type>DT60FE</Type>
|
|
<BitSize>72</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FF</Index>
|
|
<Name>Target Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6502</Index>
|
|
<Name>Supported Drive Modes</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Fmmu Sm="2">Outputs</Fmmu>
|
|
<Fmmu Sm="3">Inputs</Fmmu>
|
|
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
|
|
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
|
|
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
|
|
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
|
|
<RxPdo Fixed="0" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>Receive PDO 1</Name>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B8</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Function</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<!--CSP-->
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1601</Index>
|
|
<Name>Receive PDO 2</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6081</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Velocity</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1602</Index>
|
|
<Name>Receive PDO 3</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FF</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Target Velocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1603</Index>
|
|
<Name>Receive PDO 4</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6098</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Homing Method</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x609A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607C</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Offset</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="0" Sm="3">
|
|
<Index>#x1a00</Index>
|
|
<Name>Transmit PDO 1</Name>
|
|
<Exclude>#x1A01</Exclude>
|
|
<Entry>
|
|
<Index>#x603F</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Last Error Code</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6041</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Status Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6061</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation display</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6064</Index>
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|
<SubIndex>#x00</SubIndex>
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|
<BitLen>32</BitLen>
|
|
<Name>Position Actual Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B9</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Status</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60BA</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FD</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Digital Inputs</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<!--ALL MODE-->
|
|
</TxPdo>
|
|
<TxPdo Fixed="0">
|
|
<Index>#x1a01</Index>
|
|
<Name>Transmit PDO 2</Name>
|
|
<Exclude>#x1A00</Exclude>
|
|
</TxPdo>
|
|
<Mailbox DataLinkLayer="1">
|
|
<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
|
|
<InitCmd>
|
|
<Transition>PS</Transition>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
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|
<Data>08</Data>
|
|
<Comment>Modes of Operation</Comment>
|
|
<!--CSP-->
|
|
</InitCmd>
|
|
</CoE>
|
|
</Mailbox>
|
|
<Dc>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x0300</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>Free Run</Name>
|
|
<Desc>Free-Run</Desc>
|
|
<AssignActivate>#x0000</AssignActivate>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>003c0000640000000000</ConfigData>
|
|
</Eeprom>
|
|
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
|
|
</Device>
|
|
<Device Physics="YY">
|
|
<Type ProductCode="#x8700" RevisionNo="#x0001">DM3C-EC870</Type>
|
|
<Name LcId="1033"><![CDATA[DM3C-EC870(COE)]]></Name>
|
|
<Comment LcId="1033">80VDC/7.0A Stepper Drive</Comment>
|
|
<Comment LcId="2052">80VDC/7.0A 步进驱动器</Comment>
|
|
<URL LcId="1033">http://www.leadshine.com</URL>
|
|
<URL LcId="2052">http://www.leisai.com</URL>
|
|
<Info>
|
|
<StateMachine>
|
|
<Timeout>
|
|
<PreopTimeout>2000</PreopTimeout>
|
|
<SafeopOpTimeout>9000</SafeopOpTimeout>
|
|
<BackToInitTimeout>5000</BackToInitTimeout>
|
|
<BackToSafeopTimeout>200</BackToSafeopTimeout>
|
|
</Timeout>
|
|
<Behavior StartToSafeopNoSync="true"/>
|
|
</StateMachine>
|
|
<Mailbox>
|
|
<Timeout>
|
|
<RequestTimeout>100</RequestTimeout>
|
|
<ResponseTimeout>5000</ResponseTimeout>
|
|
</Timeout>
|
|
</Mailbox>
|
|
<IdentificationReg134>false</IdentificationReg134>
|
|
</Info>
|
|
<GroupType>Stepper Drive</GroupType>
|
|
<Profile>
|
|
<ChannelInfo>
|
|
<ProfileNo>402</ProfileNo>
|
|
</ChannelInfo>
|
|
<Dictionary>
|
|
<DataTypes>
|
|
<DataType>
|
|
<Name>SINT</Name>
|
|
<!--Signed short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>USINT</Name>
|
|
<!--Unsigned short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>INT</Name>
|
|
<!--Signed integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UINT</Name>
|
|
<!--Unsigned integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DINT</Name>
|
|
<!--Signed double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UDINT</Name>
|
|
<!--Unsigned double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>LINT</Name>
|
|
<!--Signed 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ULINT</Name>
|
|
<!--Unsigned 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(25)</Name>
|
|
<BitSize>200</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(7)</Name>
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|
<BitSize>56</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(5)</Name>
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|
<BitSize>40</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(20)</Name>
|
|
<BitSize>160</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(40)</Name>
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|
<BitSize>320</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(136)</Name>
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|
<BitSize>1088</BitSize>
|
|
</DataType>
|
|
<DataType>
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|
<Name>ARRAY [0..4] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
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|
<!--Trajectory segment-->
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|
<BitSize>80</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>5</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..13] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Bi-quad filter coefficients-->
|
|
<BitSize>224</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>14</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..15] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--I/O extension data-->
|
|
<BitSize>256</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..2] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Trace Trigger Config-->
|
|
<BitSize>48</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>3</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..23] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Input shaping filter-->
|
|
<BitSize>384</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>24</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..16383] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Variable length data set-->
|
|
<BitSize>262144</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16384</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1010</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Save all parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Save communication parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Save application parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Save manufacturer parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1011</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Restore all default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Restore communication default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Restore application default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Restore manufacturer default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1018</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Vendor ID</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Revision Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Serial Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT10F1</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Local Error Reaction</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Error Counter Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1600</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1601</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C32</Name>
|
|
<BitSize>480</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 2, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 2, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 2,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 2, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 2, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 2, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>336</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>352</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync Manager 2, Maximum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>17</SubIdx>
|
|
<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>416</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>18</SubIdx>
|
|
<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C33</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 3, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 3, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 3, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 3, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 3, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 3,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 3, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 3, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 3, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2010</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>FIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2019</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Reached Pulse Compensate</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Disable Reached Mode</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT201A</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Power On Enable Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Turn Off Voltage percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2025</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Open to Close Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open to Close Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close to Open Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Close to Open Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Close to Open Mode Actual Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2081</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2090</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Current Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Current Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Current Loop Saturation Time Constant</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Current Loop Gain Ratio</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Torque Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2091</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Speed Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Speed Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Speed Loop Integral Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Speed Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Speed Loop Sample Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Velocity Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2092</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Position Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Position Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Position Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2152</Name>
|
|
<BitSize>208</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Input 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Input 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Input 3 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Input 4 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Input 5 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Input 6 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2156</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Output 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Output 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3100</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Driver Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>FPGA Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Slave Stack Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3FFE</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Fault Record 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Fault Record 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Fault Record 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Fault Record 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Fault Record 4</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Fault Record 5</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Fault Record 6</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Fault Record 7</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Fault Record 8</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Fault Record 9</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Fault Record 10</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Fault Record 11</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Fault Record 12</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Fault Record 13</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>214</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4000</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor Type</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor Resistance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Motor Inductance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Motor Back EMF Coefficient</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4003</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Break Lock Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Break Release Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Break Release Speed</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4005</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5000</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Trajectory Generator Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motion State Machine</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interior Enable Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Target Reached Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Internal Response Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>EEPROM Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Special Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5002</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Register Address</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Register Data</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5004</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Outputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Inputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync0 Watch Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync0 Drift Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync0 Drift Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>SM Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>SM Watch Dog Value Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync0 Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Function Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync0 Interval</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5012</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Home Reached Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Home Triggered Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Home IO Simulator</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Home Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Home Speed Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5015</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Internal Command Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Internal Command Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Internal Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Internal Reserve 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Profile Mode Setting 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Profile Mode Setting 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Reserve 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Internal Reserve 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5400</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>DC Period Minimux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>DC Period Maximux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5500</Name>
|
|
<BitSize>336</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Number of Turns of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Single Turn Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Low Position of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>High Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Low Mechanical Position</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>High Mechanical Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Encoder Communication Error Counter</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Manufacture Reserve High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Manufacture Use Low </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>272</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Manufacture Use High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5501</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Actual Motor Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Command Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Command</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Actual Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Relative Position Error</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Position Command</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Overload Rate</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Regenrative Resistance Load Ratio</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Inertia Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Positive Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Negative Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>U Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>V Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5502</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Digital Input Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Digital Output Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Analog Input 1 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Analog Input 2 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>DC Link Circuit Voltage</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>IPM Temperature</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Operation Time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>116</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT607D</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Negative software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Positive software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT608F</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Encoder increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6091</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6092</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Feed increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6099</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60A4</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Profile Jerk 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Profile Jerk 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C1</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolated position value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolated time value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interpolated velocity value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolation Time Value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolation Time Units</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60FE</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Physical Outputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Bit Mask</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device Type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1001</Index>
|
|
<Name>Error Register</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1008</Index>
|
|
<Name>Device Name</Name>
|
|
<Type>STRING(7)</Type>
|
|
<BitSize>56</BitSize>
|
|
<Info/>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1009</Index>
|
|
<Name>Hardware Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x100A</Index>
|
|
<Name>Software Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1010</Index>
|
|
<Name>Store Parameters</Name>
|
|
<Type>DT1010</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1011</Index>
|
|
<Name>Restore Parameters</Name>
|
|
<Type>DT1011</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1018</Index>
|
|
<Name>Identity Object</Name>
|
|
<Type>DT1018</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x10F1</Index>
|
|
<Name>Error Settings</Name>
|
|
<Type>DT10F1</Type>
|
|
<BitSize>64</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1600</Index>
|
|
<Name>RXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1600</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1601</Index>
|
|
<Name>RXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1601</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1602</Index>
|
|
<Name>RXPDO 3 Mapping Parameter</Name>
|
|
<Type>DT1602</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1603</Index>
|
|
<Name>RXPDO 4 Mapping Parameter</Name>
|
|
<Type>DT1603</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>TXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>TXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>SM Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>SM2(Outputs) PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>SM3(Inputs) PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C32</Index>
|
|
<Name>Output Sync Manager Parameter</Name>
|
|
<Type>DT1C32</Type>
|
|
<BitSize>480</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C33</Index>
|
|
<Name>Input Sync Manager Parameter</Name>
|
|
<Type>DT1C33</Type>
|
|
<BitSize>320</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>Peak Current</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2001</Index>
|
|
<Name>Motor Resolution</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2010</Index>
|
|
<Name>Filter Time</Name>
|
|
<Type>DT2010</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2012</Index>
|
|
<Name>Soft Start Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2013</Index>
|
|
<Name>Auto-tune Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2018</Index>
|
|
<Name>Power On Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2019</Index>
|
|
<Name>Reached Setting</Name>
|
|
<Type>DT2019</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201A</Index>
|
|
<Name>Percentage Parameters</Name>
|
|
<Type>DT201A</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201B</Index>
|
|
<Name>Lock Axis Time When Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201C</Index>
|
|
<Name>Maximum Stop Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201D</Index>
|
|
<Name>Zero Speed Threshold</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2030</Index>
|
|
<Name>Position Loop Control Effort Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2047</Index>
|
|
<Name>Over Voltage Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2056</Index>
|
|
<Name>Fault Detect Configure</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2073</Index>
|
|
<Name>Motor Return After Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2090</Index>
|
|
<Name>Current Loop Parameters</Name>
|
|
<Type>DT2090</Type>
|
|
<BitSize>176</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214A</Index>
|
|
<Name>Slave ID Selector Data</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214B</Index>
|
|
<Name>HMI Display Select</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2150</Index>
|
|
<Name>Slave Alias</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2151</Index>
|
|
<Name>Slave Alias Source</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2152</Index>
|
|
<Name>Inputs Function</Name>
|
|
<Type>DT2152</Type>
|
|
<BitSize>208</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2155</Index>
|
|
<Name>Physical Inputs Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2156</Index>
|
|
<Name>Outputs Function</Name>
|
|
<Type>DT2156</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x225C</Index>
|
|
<Name>Special Function Register </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22A9</Index>
|
|
<Name>Limit Switch Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22B4</Index>
|
|
<Name>E-stop Input Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3100</Index>
|
|
<Name>Firmware Version</Name>
|
|
<Type>DT3100</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3FFE</Index>
|
|
<Name>Fault Record</Name>
|
|
<Type>DT3FFE</Type>
|
|
<BitSize>240</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4000</Index>
|
|
<Name>Motor Parameters</Name>
|
|
<Type>DT4000</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4003</Index>
|
|
<Name>Motor Break Parameters</Name>
|
|
<Type>DT4003</Type>
|
|
<BitSize>112</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4005</Index>
|
|
<Name>Regenerative Resistance Parameters</Name>
|
|
<Type>DT4005</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4500</Index>
|
|
<Name>Current Error ID</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5000</Index>
|
|
<Name>Internal States</Name>
|
|
<Type>DT5000</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5002</Index>
|
|
<Name>ESC Register Interface</Name>
|
|
<Type>DT5002</Type>
|
|
<BitSize>48</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5004</Index>
|
|
<Name>Sync Interface Parameters</Name>
|
|
<Type>DT5004</Type>
|
|
<BitSize>272</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5005</Index>
|
|
<Name>DC Compensate Base Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5006</Index>
|
|
<Name>Sync Error Detect Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5010</Index>
|
|
<Name>Valid Outputs/Inputs Watch Dog Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5011</Index>
|
|
<Name>Internal Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5012</Index>
|
|
<Name>Home Interface</Name>
|
|
<Type>DT5012</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5013</Index>
|
|
<Name>Motor Not Work Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5400</Index>
|
|
<Name>DC Period Setting</Name>
|
|
<Type>DT5400</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5500</Index>
|
|
<Name>Absolute Encoder Monitors</Name>
|
|
<Type>DT5500</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5501</Index>
|
|
<Name>Motion Monitors</Name>
|
|
<Type>DT5501</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5502</Index>
|
|
<Name>Miscellaneous Monitors</Name>
|
|
<Type>DT5502</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x603f</Index>
|
|
<Name>Last Error Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>Control Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>Status Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605A</Index>
|
|
<Name>Quick Stop Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605B</Index>
|
|
<Name>Shutdown option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605C</Index>
|
|
<Name>Disable operation option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605D</Index>
|
|
<Name>Halt option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605E</Index>
|
|
<Name>Fault reaction option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>Modes of Operation</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>Modes of Operation Display</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6062</Index>
|
|
<Name>Commanded Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606B</Index>
|
|
<Name>Commanded Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606C</Index>
|
|
<Name>Actual Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6073</Index>
|
|
<Name>Max Current</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>Profile Target Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607C</Index>
|
|
<Name>Homing Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607E</Index>
|
|
<Name>Polarity</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607F</Index>
|
|
<Name>Max Profile velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6080</Index>
|
|
<Name>Max motor speed</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6081</Index>
|
|
<Name>Profile Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6082</Index>
|
|
<Name>End Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6083</Index>
|
|
<Name>Profile Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6084</Index>
|
|
<Name>Profile Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6085</Index>
|
|
<Name>Quick Stop Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x608F</Index>
|
|
<Name>Position encoder resolution</Name>
|
|
<Type>DT608F</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6092</Index>
|
|
<Name>Feed constant</Name>
|
|
<Type>DT6092</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6098</Index>
|
|
<Name>Homing Method</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6099</Index>
|
|
<Name>Homing Velocity</Name>
|
|
<Type>DT6099</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x609A</Index>
|
|
<Name>Homing Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B0</Index>
|
|
<Name>Position Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B8</Index>
|
|
<Name>Touch Probe Function</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B9</Index>
|
|
<Name>Touch Probe Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BA</Index>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BB</Index>
|
|
<Name>Touch Probe 1 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BC</Index>
|
|
<Name>Touch Probe 2 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BD</Index>
|
|
<Name>Touch Probe 2 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60C2</Index>
|
|
<Name>InterPolation Time Period</Name>
|
|
<Type>DT60C2</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D5</Index>
|
|
<Name>Touch Probe 1 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D6</Index>
|
|
<Name>Touch Probe 1 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D7</Index>
|
|
<Name>Touch Probe 2 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D8</Index>
|
|
<Name>Touch Probe 2 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FD</Index>
|
|
<Name>Digital Inputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FE</Index>
|
|
<Name>Digital Outputs</Name>
|
|
<Type>DT60FE</Type>
|
|
<BitSize>72</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FF</Index>
|
|
<Name>Target Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6502</Index>
|
|
<Name>Supported Drive Modes</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Fmmu Sm="2">Outputs</Fmmu>
|
|
<Fmmu Sm="3">Inputs</Fmmu>
|
|
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
|
|
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
|
|
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
|
|
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
|
|
<RxPdo Fixed="0" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>Receive PDO 1</Name>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B8</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Function</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<!--CSP-->
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1601</Index>
|
|
<Name>Receive PDO 2</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6081</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Velocity</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1602</Index>
|
|
<Name>Receive PDO 3</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FF</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Target Velocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1603</Index>
|
|
<Name>Receive PDO 4</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6098</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Homing Method</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x609A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607C</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Offset</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="0" Sm="3">
|
|
<Index>#x1a00</Index>
|
|
<Name>Transmit PDO 1</Name>
|
|
<Exclude>#x1A01</Exclude>
|
|
<Entry>
|
|
<Index>#x603F</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Last Error Code</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6041</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Status Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6061</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation display</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6064</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Position Actual Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B9</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Status</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60BA</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FD</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Digital Inputs</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<!--ALL MODE-->
|
|
</TxPdo>
|
|
<TxPdo Fixed="0">
|
|
<Index>#x1a01</Index>
|
|
<Name>Transmit PDO 2</Name>
|
|
<Exclude>#x1A00</Exclude>
|
|
</TxPdo>
|
|
<Mailbox DataLinkLayer="1">
|
|
<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
|
|
<InitCmd>
|
|
<Transition>PS</Transition>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<Data>08</Data>
|
|
<Comment>Modes of Operation</Comment>
|
|
<!--CSP-->
|
|
</InitCmd>
|
|
</CoE>
|
|
</Mailbox>
|
|
<Dc>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x0300</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>Free Run</Name>
|
|
<Desc>Free-Run</Desc>
|
|
<AssignActivate>#x0000</AssignActivate>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>003c0000640000000000</ConfigData>
|
|
</Eeprom>
|
|
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
|
|
</Device>
|
|
<Device Physics="YY">
|
|
<Type ProductCode="#x8800" RevisionNo="#x0001">DM3C-EC522</Type>
|
|
<Name LcId="1033"><![CDATA[DM3C-EC522(COE)]]></Name>
|
|
<Comment LcId="1033">50VDC/2.2A Stepper Drive</Comment>
|
|
<Comment LcId="2052">50VDC/2.2A 步进驱动器</Comment>
|
|
<URL LcId="1033">http://www.leadshine.com</URL>
|
|
<URL LcId="2052">http://www.leisai.com</URL>
|
|
<Info>
|
|
<StateMachine>
|
|
<Timeout>
|
|
<PreopTimeout>2000</PreopTimeout>
|
|
<SafeopOpTimeout>9000</SafeopOpTimeout>
|
|
<BackToInitTimeout>5000</BackToInitTimeout>
|
|
<BackToSafeopTimeout>200</BackToSafeopTimeout>
|
|
</Timeout>
|
|
<Behavior StartToSafeopNoSync="true"/>
|
|
</StateMachine>
|
|
<Mailbox>
|
|
<Timeout>
|
|
<RequestTimeout>100</RequestTimeout>
|
|
<ResponseTimeout>5000</ResponseTimeout>
|
|
</Timeout>
|
|
</Mailbox>
|
|
<IdentificationReg134>false</IdentificationReg134>
|
|
</Info>
|
|
<GroupType>Stepper Drive</GroupType>
|
|
<Profile>
|
|
<ChannelInfo>
|
|
<ProfileNo>402</ProfileNo>
|
|
</ChannelInfo>
|
|
<Dictionary>
|
|
<DataTypes>
|
|
<DataType>
|
|
<Name>SINT</Name>
|
|
<!--Signed short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>USINT</Name>
|
|
<!--Unsigned short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>INT</Name>
|
|
<!--Signed integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UINT</Name>
|
|
<!--Unsigned integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DINT</Name>
|
|
<!--Signed double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UDINT</Name>
|
|
<!--Unsigned double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>LINT</Name>
|
|
<!--Signed 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ULINT</Name>
|
|
<!--Unsigned 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(25)</Name>
|
|
<BitSize>200</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(7)</Name>
|
|
<BitSize>56</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(5)</Name>
|
|
<BitSize>40</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(20)</Name>
|
|
<BitSize>160</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(40)</Name>
|
|
<BitSize>320</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(136)</Name>
|
|
<BitSize>1088</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..4] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Trajectory segment-->
|
|
<BitSize>80</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>5</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..13] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Bi-quad filter coefficients-->
|
|
<BitSize>224</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>14</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..15] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--I/O extension data-->
|
|
<BitSize>256</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..2] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Trace Trigger Config-->
|
|
<BitSize>48</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>3</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..23] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Input shaping filter-->
|
|
<BitSize>384</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>24</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..16383] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Variable length data set-->
|
|
<BitSize>262144</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16384</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1010</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Save all parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Save communication parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Save application parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Save manufacturer parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1011</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Restore all default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Restore communication default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Restore application default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Restore manufacturer default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1018</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Vendor ID</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Revision Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Serial Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT10F1</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Local Error Reaction</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Error Counter Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1600</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1601</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C32</Name>
|
|
<BitSize>480</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 2, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 2, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 2,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 2, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 2, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 2, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>336</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>352</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync Manager 2, Maximum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>17</SubIdx>
|
|
<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>416</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>18</SubIdx>
|
|
<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C33</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 3, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 3, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 3, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 3, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 3, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 3,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 3, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 3, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 3, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2010</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>FIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2019</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Reached Pulse Compensate</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Disable Reached Mode</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT201A</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Power On Enable Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Turn Off Voltage percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2025</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Open to Close Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open to Close Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close to Open Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Close to Open Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Close to Open Mode Actual Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2081</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2090</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Current Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Current Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Current Loop Saturation Time Constant</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Current Loop Gain Ratio</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Torque Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2091</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Speed Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Speed Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Speed Loop Integral Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Speed Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Speed Loop Sample Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Velocity Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2092</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Position Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Position Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Position Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2152</Name>
|
|
<BitSize>208</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Input 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Input 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Input 3 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Input 4 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Input 5 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Input 6 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2156</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Output 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Output 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3100</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Driver Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>FPGA Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Slave Stack Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3FFE</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Fault Record 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Fault Record 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Fault Record 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Fault Record 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Fault Record 4</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Fault Record 5</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Fault Record 6</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Fault Record 7</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Fault Record 8</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Fault Record 9</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Fault Record 10</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Fault Record 11</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Fault Record 12</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Fault Record 13</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>214</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4000</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor Type</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor Resistance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Motor Inductance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Motor Back EMF Coefficient</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4003</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Break Lock Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Break Release Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Break Release Speed</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4005</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5000</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Trajectory Generator Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motion State Machine</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interior Enable Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Target Reached Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Internal Response Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>EEPROM Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Special Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5002</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Register Address</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Register Data</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5004</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Outputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Inputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync0 Watch Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync0 Drift Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync0 Drift Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>SM Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>SM Watch Dog Value Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync0 Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Function Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync0 Interval</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5012</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Home Reached Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Home Triggered Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Home IO Simulator</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Home Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Home Speed Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5015</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Internal Command Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Internal Command Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Internal Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Internal Reserve 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Profile Mode Setting 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Profile Mode Setting 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Reserve 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Internal Reserve 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5400</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>DC Period Minimux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>DC Period Maximux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5500</Name>
|
|
<BitSize>336</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Number of Turns of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Single Turn Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Low Position of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>High Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Low Mechanical Position</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>High Mechanical Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Encoder Communication Error Counter</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Manufacture Reserve High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Manufacture Use Low </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>272</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Manufacture Use High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5501</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Actual Motor Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Command Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Command</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Actual Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Relative Position Error</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Position Command</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Overload Rate</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Regenrative Resistance Load Ratio</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Inertia Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Positive Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Negative Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>U Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>V Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5502</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Digital Input Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Digital Output Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Analog Input 1 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Analog Input 2 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>DC Link Circuit Voltage</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>IPM Temperature</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Operation Time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>116</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT607D</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Negative software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Positive software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT608F</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Encoder increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6091</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6092</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Feed increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6099</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60A4</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Profile Jerk 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Profile Jerk 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C1</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolated position value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolated time value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interpolated velocity value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolation Time Value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolation Time Units</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60FE</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Physical Outputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Bit Mask</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device Type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1001</Index>
|
|
<Name>Error Register</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1008</Index>
|
|
<Name>Device Name</Name>
|
|
<Type>STRING(7)</Type>
|
|
<BitSize>56</BitSize>
|
|
<Info/>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1009</Index>
|
|
<Name>Hardware Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x100A</Index>
|
|
<Name>Software Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1010</Index>
|
|
<Name>Store Parameters</Name>
|
|
<Type>DT1010</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1011</Index>
|
|
<Name>Restore Parameters</Name>
|
|
<Type>DT1011</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1018</Index>
|
|
<Name>Identity Object</Name>
|
|
<Type>DT1018</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x10F1</Index>
|
|
<Name>Error Settings</Name>
|
|
<Type>DT10F1</Type>
|
|
<BitSize>64</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1600</Index>
|
|
<Name>RXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1600</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1601</Index>
|
|
<Name>RXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1601</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1602</Index>
|
|
<Name>RXPDO 3 Mapping Parameter</Name>
|
|
<Type>DT1602</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1603</Index>
|
|
<Name>RXPDO 4 Mapping Parameter</Name>
|
|
<Type>DT1603</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>TXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>TXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>SM Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>SM2(Outputs) PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>SM3(Inputs) PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C32</Index>
|
|
<Name>Output Sync Manager Parameter</Name>
|
|
<Type>DT1C32</Type>
|
|
<BitSize>480</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C33</Index>
|
|
<Name>Input Sync Manager Parameter</Name>
|
|
<Type>DT1C33</Type>
|
|
<BitSize>320</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>Peak Current</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2001</Index>
|
|
<Name>Motor Resolution</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2010</Index>
|
|
<Name>Filter Time</Name>
|
|
<Type>DT2010</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2012</Index>
|
|
<Name>Soft Start Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2013</Index>
|
|
<Name>Auto-tune Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2018</Index>
|
|
<Name>Power On Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2019</Index>
|
|
<Name>Reached Setting</Name>
|
|
<Type>DT2019</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201A</Index>
|
|
<Name>Percentage Parameters</Name>
|
|
<Type>DT201A</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201B</Index>
|
|
<Name>Lock Axis Time When Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201C</Index>
|
|
<Name>Maximum Stop Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201D</Index>
|
|
<Name>Zero Speed Threshold</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2030</Index>
|
|
<Name>Position Loop Control Effort Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2047</Index>
|
|
<Name>Over Voltage Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2056</Index>
|
|
<Name>Fault Detect Configure</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2073</Index>
|
|
<Name>Motor Return After Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2090</Index>
|
|
<Name>Current Loop Parameters</Name>
|
|
<Type>DT2090</Type>
|
|
<BitSize>176</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214A</Index>
|
|
<Name>Slave ID Selector Data</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214B</Index>
|
|
<Name>HMI Display Select</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2150</Index>
|
|
<Name>Slave Alias</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2151</Index>
|
|
<Name>Slave Alias Source</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2152</Index>
|
|
<Name>Inputs Function</Name>
|
|
<Type>DT2152</Type>
|
|
<BitSize>208</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2155</Index>
|
|
<Name>Physical Inputs Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2156</Index>
|
|
<Name>Outputs Function</Name>
|
|
<Type>DT2156</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x225C</Index>
|
|
<Name>Special Function Register </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22A9</Index>
|
|
<Name>Limit Switch Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22B4</Index>
|
|
<Name>E-stop Input Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3100</Index>
|
|
<Name>Firmware Version</Name>
|
|
<Type>DT3100</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3FFE</Index>
|
|
<Name>Fault Record</Name>
|
|
<Type>DT3FFE</Type>
|
|
<BitSize>240</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4000</Index>
|
|
<Name>Motor Parameters</Name>
|
|
<Type>DT4000</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4003</Index>
|
|
<Name>Motor Break Parameters</Name>
|
|
<Type>DT4003</Type>
|
|
<BitSize>112</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4005</Index>
|
|
<Name>Regenerative Resistance Parameters</Name>
|
|
<Type>DT4005</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4500</Index>
|
|
<Name>Current Error ID</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5000</Index>
|
|
<Name>Internal States</Name>
|
|
<Type>DT5000</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5002</Index>
|
|
<Name>ESC Register Interface</Name>
|
|
<Type>DT5002</Type>
|
|
<BitSize>48</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5004</Index>
|
|
<Name>Sync Interface Parameters</Name>
|
|
<Type>DT5004</Type>
|
|
<BitSize>272</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5005</Index>
|
|
<Name>DC Compensate Base Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5006</Index>
|
|
<Name>Sync Error Detect Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5010</Index>
|
|
<Name>Valid Outputs/Inputs Watch Dog Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5011</Index>
|
|
<Name>Internal Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5012</Index>
|
|
<Name>Home Interface</Name>
|
|
<Type>DT5012</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5013</Index>
|
|
<Name>Motor Not Work Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5400</Index>
|
|
<Name>DC Period Setting</Name>
|
|
<Type>DT5400</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5500</Index>
|
|
<Name>Absolute Encoder Monitors</Name>
|
|
<Type>DT5500</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5501</Index>
|
|
<Name>Motion Monitors</Name>
|
|
<Type>DT5501</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5502</Index>
|
|
<Name>Miscellaneous Monitors</Name>
|
|
<Type>DT5502</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x603f</Index>
|
|
<Name>Last Error Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>Control Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>Status Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605A</Index>
|
|
<Name>Quick Stop Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605B</Index>
|
|
<Name>Shutdown option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605C</Index>
|
|
<Name>Disable operation option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605D</Index>
|
|
<Name>Halt option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605E</Index>
|
|
<Name>Fault reaction option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>Modes of Operation</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>Modes of Operation Display</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6062</Index>
|
|
<Name>Commanded Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606B</Index>
|
|
<Name>Commanded Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606C</Index>
|
|
<Name>Actual Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6073</Index>
|
|
<Name>Max Current</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>Profile Target Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607C</Index>
|
|
<Name>Homing Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607E</Index>
|
|
<Name>Polarity</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607F</Index>
|
|
<Name>Max Profile velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6080</Index>
|
|
<Name>Max motor speed</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6081</Index>
|
|
<Name>Profile Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6082</Index>
|
|
<Name>End Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6083</Index>
|
|
<Name>Profile Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6084</Index>
|
|
<Name>Profile Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6085</Index>
|
|
<Name>Quick Stop Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x608F</Index>
|
|
<Name>Position encoder resolution</Name>
|
|
<Type>DT608F</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6092</Index>
|
|
<Name>Feed constant</Name>
|
|
<Type>DT6092</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6098</Index>
|
|
<Name>Homing Method</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6099</Index>
|
|
<Name>Homing Velocity</Name>
|
|
<Type>DT6099</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x609A</Index>
|
|
<Name>Homing Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B0</Index>
|
|
<Name>Position Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B8</Index>
|
|
<Name>Touch Probe Function</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B9</Index>
|
|
<Name>Touch Probe Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BA</Index>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BB</Index>
|
|
<Name>Touch Probe 1 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BC</Index>
|
|
<Name>Touch Probe 2 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BD</Index>
|
|
<Name>Touch Probe 2 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60C2</Index>
|
|
<Name>InterPolation Time Period</Name>
|
|
<Type>DT60C2</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D5</Index>
|
|
<Name>Touch Probe 1 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D6</Index>
|
|
<Name>Touch Probe 1 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D7</Index>
|
|
<Name>Touch Probe 2 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D8</Index>
|
|
<Name>Touch Probe 2 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FD</Index>
|
|
<Name>Digital Inputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FE</Index>
|
|
<Name>Digital Outputs</Name>
|
|
<Type>DT60FE</Type>
|
|
<BitSize>72</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FF</Index>
|
|
<Name>Target Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6502</Index>
|
|
<Name>Supported Drive Modes</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Fmmu Sm="2">Outputs</Fmmu>
|
|
<Fmmu Sm="3">Inputs</Fmmu>
|
|
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
|
|
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
|
|
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
|
|
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
|
|
<RxPdo Fixed="0" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>Receive PDO 1</Name>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B8</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Function</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<!--CSP-->
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1601</Index>
|
|
<Name>Receive PDO 2</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6081</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Velocity</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1602</Index>
|
|
<Name>Receive PDO 3</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FF</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Target Velocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1603</Index>
|
|
<Name>Receive PDO 4</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6098</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Homing Method</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x609A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607C</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Offset</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="0" Sm="3">
|
|
<Index>#x1a00</Index>
|
|
<Name>Transmit PDO 1</Name>
|
|
<Exclude>#x1A01</Exclude>
|
|
<Entry>
|
|
<Index>#x603F</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Last Error Code</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6041</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Status Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6061</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation display</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6064</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Position Actual Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B9</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Status</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60BA</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FD</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Digital Inputs</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<!--ALL MODE-->
|
|
</TxPdo>
|
|
<TxPdo Fixed="0">
|
|
<Index>#x1a01</Index>
|
|
<Name>Transmit PDO 2</Name>
|
|
<Exclude>#x1A00</Exclude>
|
|
</TxPdo>
|
|
<Mailbox DataLinkLayer="1">
|
|
<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
|
|
<InitCmd>
|
|
<Transition>PS</Transition>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<Data>08</Data>
|
|
<Comment>Modes of Operation</Comment>
|
|
<!--CSP-->
|
|
</InitCmd>
|
|
</CoE>
|
|
</Mailbox>
|
|
<Dc>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x0300</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>Free Run</Name>
|
|
<Desc>Free-Run</Desc>
|
|
<AssignActivate>#x0000</AssignActivate>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>003c0000640000000000</ConfigData>
|
|
</Eeprom>
|
|
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
|
|
</Device>
|
|
<Device Physics="YY">
|
|
<Type ProductCode="#x8A00" RevisionNo="#x0001">DM3C-EC882AC</Type>
|
|
<Name LcId="1033"><![CDATA[DM3C-EC882AC(COE)]]></Name>
|
|
<Comment LcId="1033">80VAC/8.2A Stepper Drive</Comment>
|
|
<Comment LcId="2052">80VAC/8.2A 步进驱动器</Comment>
|
|
<URL LcId="1033">http://www.leadshine.com</URL>
|
|
<URL LcId="2052">http://www.leisai.com</URL>
|
|
<Info>
|
|
<StateMachine>
|
|
<Timeout>
|
|
<PreopTimeout>2000</PreopTimeout>
|
|
<SafeopOpTimeout>9000</SafeopOpTimeout>
|
|
<BackToInitTimeout>5000</BackToInitTimeout>
|
|
<BackToSafeopTimeout>200</BackToSafeopTimeout>
|
|
</Timeout>
|
|
<Behavior StartToSafeopNoSync="true"/>
|
|
</StateMachine>
|
|
<Mailbox>
|
|
<Timeout>
|
|
<RequestTimeout>100</RequestTimeout>
|
|
<ResponseTimeout>5000</ResponseTimeout>
|
|
</Timeout>
|
|
</Mailbox>
|
|
<IdentificationReg134>false</IdentificationReg134>
|
|
</Info>
|
|
<GroupType>Stepper Drive</GroupType>
|
|
<Profile>
|
|
<ChannelInfo>
|
|
<ProfileNo>402</ProfileNo>
|
|
</ChannelInfo>
|
|
<Dictionary>
|
|
<DataTypes>
|
|
<DataType>
|
|
<Name>SINT</Name>
|
|
<!--Signed short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>USINT</Name>
|
|
<!--Unsigned short integer-->
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>INT</Name>
|
|
<!--Signed integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UINT</Name>
|
|
<!--Unsigned integer-->
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DINT</Name>
|
|
<!--Signed double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UDINT</Name>
|
|
<!--Unsigned double integer-->
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>LINT</Name>
|
|
<!--Signed 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ULINT</Name>
|
|
<!--Unsigned 64-bit integer-->
|
|
<BitSize>64</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(25)</Name>
|
|
<BitSize>200</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(7)</Name>
|
|
<BitSize>56</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(5)</Name>
|
|
<BitSize>40</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(20)</Name>
|
|
<BitSize>160</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(40)</Name>
|
|
<BitSize>320</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(136)</Name>
|
|
<BitSize>1088</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..4] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Trajectory segment-->
|
|
<BitSize>80</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>5</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..13] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Bi-quad filter coefficients-->
|
|
<BitSize>224</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>14</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..15] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--I/O extension data-->
|
|
<BitSize>256</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..2] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Trace Trigger Config-->
|
|
<BitSize>48</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>3</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..23] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Input shaping filter-->
|
|
<BitSize>384</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>24</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>ARRAY [0..16383] OF UINT</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<!--Variable length data set-->
|
|
<BitSize>262144</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>0</LBound>
|
|
<Elements>16384</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1010</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Save all parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Save communication parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Save application parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Save manufacturer parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1011</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Restore all default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Restore communication default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Restore application default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Restore manufacturer default parameters</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1018</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Vendor ID</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Revision Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Serial Number</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT10F1</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Local Error Reaction</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Error Counter Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1600</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1601</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 3 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>RPDO 4 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 1 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 5</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 6</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 7</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>TPDO 2 Mapping Information 8</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Comm. Type, Sync Manager 3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, PDO Mapping 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, PDO Mapping 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C32</Name>
|
|
<BitSize>480</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 2, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 2, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 2, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 2, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 2, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 2, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 2,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 2, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 2, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 2, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>336</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Manager 2, Minimum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>352</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync Manager 2, Maximum cycle distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>17</SubIdx>
|
|
<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>416</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>18</SubIdx>
|
|
<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C33</Name>
|
|
<BitSize>320</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Sync Manager 3, Synchronization type</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Sync Manager 3, Cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Sync Manager 3, Shift time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Sync Manager 3, Sync types supported</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync Manager 3, Minimum cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync Manager 3, Calc and copy time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync Manager 3, Minimum hardware delay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync Manager 3,Get Cycle Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync Manager 3, Hardware delay time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Sync Manager 3, Sync0 cycle time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Sync Manager 3, SM-Event missed Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2010</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>FIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IIR Filter Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2019</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Reached Pulse Compensate</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Disable Reached Mode</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT201A</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Power On Enable Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close Loop Standby Current percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Turn Off Voltage percentage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2025</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Open to Close Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Open to Close Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Close to Open Mode Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Close to Open Mode Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Close to Open Mode Actual Speed Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2081</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Weak Magnetic Coefficient 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2090</Name>
|
|
<BitSize>176</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Current Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Current Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Current Loop Saturation Time Constant</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Current Loop Gain Ratio</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Torque Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2091</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Speed Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Speed Loop Integral</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Speed Loop Integral Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Speed Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Speed Loop Sample Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Velocity Feedforward</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2092</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Position Loop Gain</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Position Loop Gain 2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Position Loop Filter Setting</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2152</Name>
|
|
<BitSize>208</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Input 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Input 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Input 3 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Input 4 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Input 5 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Input 6 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2156</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Output 1 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Output 2 Function</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3100</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Driver Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>FPGA Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Slave Stack Software Version</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT3FFE</Name>
|
|
<BitSize>240</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Fault Record 0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Fault Record 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Fault Record 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Fault Record 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Fault Record 4</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Fault Record 5</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Fault Record 6</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Fault Record 7</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Fault Record 8</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Fault Record 9</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Fault Record 10</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Fault Record 11</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>Fault Record 12</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Fault Record 13</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>214</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4000</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor Type</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor Resistance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Motor Inductance</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Motor Back EMF Coefficient</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4003</Name>
|
|
<BitSize>112</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Break Lock Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Break Release Delay Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Break Release Speed</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT4005</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5000</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Trajectory Generator Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motion State Machine</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interior Enable Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Target Reached Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Internal Response Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>EEPROM Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Special Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5002</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Register Address</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Register Data</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5004</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Outputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Inputs Size</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>RPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>TPDO Count</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Sync0 Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Sync0 Watch Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Sync0 Drift Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Sync0 Drift Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>SM Watch Dog Counter Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>SM Watch Dog Value Internal</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>SM Sync0 Watch Dog Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Sync0 Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>Sync Function Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>Sync0 Interval</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5012</Name>
|
|
<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Home Reached Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Home Triggered Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Home IO Simulator</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Home Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Home Speed Limit</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5015</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Internal Command Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Internal Command Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Internal Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Internal Reserve 1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Profile Mode Setting 1</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Profile Mode Setting 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Reserve 2</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Internal Reserve 3</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5400</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>DC Period Minimux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>DC Period Maximux Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5500</Name>
|
|
<BitSize>336</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Number of Turns of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Single Turn Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Low Position of Absolute Encoder</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>High Position of Absolute Encoder</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Low Mechanical Position</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>High Mechanical Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Encoder Communication Error Counter</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Manufacture Reserve High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Manufacture Use Low </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>272</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Manufacture Use High </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>304</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5501</Name>
|
|
<BitSize>272</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Actual Motor Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Command Speed</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Speed Command</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Actual Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Command Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Relative Position Error</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Internal Position Command</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Overload Rate</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Regenrative Resistance Load Ratio</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Inertia Ratio</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Positive Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>208</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Negative Actual Torque Limit</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>224</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>U Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>240</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>V Phase Actual Current</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>256</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT5502</Name>
|
|
<BitSize>144</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Digital Input Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Digital Output Level</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Analog Input 1 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Analog Input 2 Level</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>DC Link Circuit Voltage</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>IPM Temperature</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Operation Time</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>116</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT607D</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Negative software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Positive software limit position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT608F</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Encoder increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6091</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Motor revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6092</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Feed increments</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Shaft revolutions</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6099</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60A4</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Profile Jerk 1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Profile Jerk 2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C1</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolated position value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolated time value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Interpolated velocity value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60C2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Interpolation Time Value</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Interpolation Time Units</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT60FE</Name>
|
|
<BitSize>80</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Number of Entries</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Physical Outputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Bit Mask</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device Type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1001</Index>
|
|
<Name>Error Register</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1008</Index>
|
|
<Name>Device Name</Name>
|
|
<Type>STRING(7)</Type>
|
|
<BitSize>56</BitSize>
|
|
<Info/>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1009</Index>
|
|
<Name>Hardware Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x100A</Index>
|
|
<Name>Software Version</Name>
|
|
<Type>STRING(5)</Type>
|
|
<BitSize>40</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1010</Index>
|
|
<Name>Store Parameters</Name>
|
|
<Type>DT1010</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1011</Index>
|
|
<Name>Restore Parameters</Name>
|
|
<Type>DT1011</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1018</Index>
|
|
<Name>Identity Object</Name>
|
|
<Type>DT1018</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x10F1</Index>
|
|
<Name>Error Settings</Name>
|
|
<Type>DT10F1</Type>
|
|
<BitSize>64</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1600</Index>
|
|
<Name>RXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1600</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1601</Index>
|
|
<Name>RXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1601</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1602</Index>
|
|
<Name>RXPDO 3 Mapping Parameter</Name>
|
|
<Type>DT1602</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1603</Index>
|
|
<Name>RXPDO 4 Mapping Parameter</Name>
|
|
<Type>DT1603</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>TXPDO 1 Mapping Parameter</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>TXPDO 2 Mapping Parameter</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>272</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>SM Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>SM2(Outputs) PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>SM3(Inputs) PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C32</Index>
|
|
<Name>Output Sync Manager Parameter</Name>
|
|
<Type>DT1C32</Type>
|
|
<BitSize>480</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C33</Index>
|
|
<Name>Input Sync Manager Parameter</Name>
|
|
<Type>DT1C33</Type>
|
|
<BitSize>320</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>Peak Current</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2001</Index>
|
|
<Name>Motor Resolution</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2010</Index>
|
|
<Name>Filter Time</Name>
|
|
<Type>DT2010</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2012</Index>
|
|
<Name>Soft Start Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2013</Index>
|
|
<Name>Auto-tune Enable</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2018</Index>
|
|
<Name>Power On Delay</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2019</Index>
|
|
<Name>Reached Setting</Name>
|
|
<Type>DT2019</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201A</Index>
|
|
<Name>Percentage Parameters</Name>
|
|
<Type>DT201A</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201B</Index>
|
|
<Name>Lock Axis Time When Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201C</Index>
|
|
<Name>Maximum Stop Time</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x201D</Index>
|
|
<Name>Zero Speed Threshold</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2030</Index>
|
|
<Name>Position Loop Control Effort Limit</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2047</Index>
|
|
<Name>Over Voltage Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2056</Index>
|
|
<Name>Fault Detect Configure</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2073</Index>
|
|
<Name>Motor Return After Power On</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2090</Index>
|
|
<Name>Current Loop Parameters</Name>
|
|
<Type>DT2090</Type>
|
|
<BitSize>176</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214A</Index>
|
|
<Name>Slave ID Selector Data</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x214B</Index>
|
|
<Name>HMI Display Select</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2150</Index>
|
|
<Name>Slave Alias</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2151</Index>
|
|
<Name>Slave Alias Source</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2152</Index>
|
|
<Name>Inputs Function</Name>
|
|
<Type>DT2152</Type>
|
|
<BitSize>208</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2155</Index>
|
|
<Name>Physical Inputs Level</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2156</Index>
|
|
<Name>Outputs Function</Name>
|
|
<Type>DT2156</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x225C</Index>
|
|
<Name>Special Function Register </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22A9</Index>
|
|
<Name>Limit Switch Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x22B4</Index>
|
|
<Name>E-stop Input Option Code</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3100</Index>
|
|
<Name>Firmware Version</Name>
|
|
<Type>DT3100</Type>
|
|
<BitSize>48</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x3FFE</Index>
|
|
<Name>Fault Record</Name>
|
|
<Type>DT3FFE</Type>
|
|
<BitSize>240</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4000</Index>
|
|
<Name>Motor Parameters</Name>
|
|
<Type>DT4000</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4003</Index>
|
|
<Name>Motor Break Parameters</Name>
|
|
<Type>DT4003</Type>
|
|
<BitSize>112</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4005</Index>
|
|
<Name>Regenerative Resistance Parameters</Name>
|
|
<Type>DT4005</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x4500</Index>
|
|
<Name>Current Error ID</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5000</Index>
|
|
<Name>Internal States</Name>
|
|
<Type>DT5000</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5002</Index>
|
|
<Name>ESC Register Interface</Name>
|
|
<Type>DT5002</Type>
|
|
<BitSize>48</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5004</Index>
|
|
<Name>Sync Interface Parameters</Name>
|
|
<Type>DT5004</Type>
|
|
<BitSize>272</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5005</Index>
|
|
<Name>DC Compensate Base Value</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5006</Index>
|
|
<Name>Sync Error Detect Setting</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5010</Index>
|
|
<Name>Valid Outputs/Inputs Watch Dog Time</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5011</Index>
|
|
<Name>Internal Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5012</Index>
|
|
<Name>Home Interface</Name>
|
|
<Type>DT5012</Type>
|
|
<BitSize>128</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5013</Index>
|
|
<Name>Motor Not Work Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5400</Index>
|
|
<Name>DC Period Setting</Name>
|
|
<Type>DT5400</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5500</Index>
|
|
<Name>Absolute Encoder Monitors</Name>
|
|
<Type>DT5500</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5501</Index>
|
|
<Name>Motion Monitors</Name>
|
|
<Type>DT5501</Type>
|
|
<BitSize>336</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x5502</Index>
|
|
<Name>Miscellaneous Monitors</Name>
|
|
<Type>DT5502</Type>
|
|
<BitSize>144</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x603f</Index>
|
|
<Name>Last Error Code</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>Control Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>Status Word</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605A</Index>
|
|
<Name>Quick Stop Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605B</Index>
|
|
<Name>Shutdown option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605C</Index>
|
|
<Name>Disable operation option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605D</Index>
|
|
<Name>Halt option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605E</Index>
|
|
<Name>Fault reaction option code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>Modes of Operation</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>Modes of Operation Display</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6062</Index>
|
|
<Name>Commanded Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>Actual Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606B</Index>
|
|
<Name>Commanded Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606C</Index>
|
|
<Name>Actual Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6073</Index>
|
|
<Name>Max Current</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>Profile Target Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607C</Index>
|
|
<Name>Homing Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607E</Index>
|
|
<Name>Polarity</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607F</Index>
|
|
<Name>Max Profile velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6080</Index>
|
|
<Name>Max motor speed</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6081</Index>
|
|
<Name>Profile Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6082</Index>
|
|
<Name>End Velocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6083</Index>
|
|
<Name>Profile Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6084</Index>
|
|
<Name>Profile Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6085</Index>
|
|
<Name>Quick Stop Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x608F</Index>
|
|
<Name>Position encoder resolution</Name>
|
|
<Type>DT608F</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6092</Index>
|
|
<Name>Feed constant</Name>
|
|
<Type>DT6092</Type>
|
|
<BitSize>80</BitSize>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6098</Index>
|
|
<Name>Homing Method</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6099</Index>
|
|
<Name>Homing Velocity</Name>
|
|
<Type>DT6099</Type>
|
|
<BitSize>80</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x609A</Index>
|
|
<Name>Homing Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B0</Index>
|
|
<Name>Position Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B8</Index>
|
|
<Name>Touch Probe Function</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60B9</Index>
|
|
<Name>Touch Probe Status</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BA</Index>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BB</Index>
|
|
<Name>Touch Probe 1 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BC</Index>
|
|
<Name>Touch Probe 2 Positive Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60BD</Index>
|
|
<Name>Touch Probe 2 Negative Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60C2</Index>
|
|
<Name>InterPolation Time Period</Name>
|
|
<Type>DT60C2</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D5</Index>
|
|
<Name>Touch Probe 1 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D6</Index>
|
|
<Name>Touch Probe 1 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D7</Index>
|
|
<Name>Touch Probe 2 Positive Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60D8</Index>
|
|
<Name>Touch Probe 2 Negative Counter</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FD</Index>
|
|
<Name>Digital Inputs</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FE</Index>
|
|
<Name>Digital Outputs</Name>
|
|
<Type>DT60FE</Type>
|
|
<BitSize>72</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FF</Index>
|
|
<Name>Target Velocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>TR</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6502</Index>
|
|
<Name>Supported Drive Modes</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Fmmu Sm="2">Outputs</Fmmu>
|
|
<Fmmu Sm="3">Inputs</Fmmu>
|
|
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
|
|
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
|
|
<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
|
|
<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
|
|
<RxPdo Fixed="0" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>Receive PDO 1</Name>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B8</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Function</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<!--CSP-->
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1601</Index>
|
|
<Name>Receive PDO 2</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Position</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6081</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Velocity</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Target Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1602</Index>
|
|
<Name>Receive PDO 3</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1603</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FF</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Target Velocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6083</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6084</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Profile Deceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="0">
|
|
<Index>#x1603</Index>
|
|
<Name>Receive PDO 4</Name>
|
|
<Exclude>#x1600</Exclude>
|
|
<Exclude>#x1601</Exclude>
|
|
<Exclude>#x1602</Exclude>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Control Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6098</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Homing Method</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (fast)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6099</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Velocity (slow)</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x609A</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Acceleration</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x607C</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Homing Offset</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="0" Sm="3">
|
|
<Index>#x1a00</Index>
|
|
<Name>Transmit PDO 1</Name>
|
|
<Exclude>#x1A01</Exclude>
|
|
<Entry>
|
|
<Index>#x603F</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Last Error Code</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6041</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Status Word</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6061</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Modes of Operation display</Name>
|
|
<DataType>SINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6064</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Position Actual Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60B9</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>Touch Probe Status</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60BA</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Touch Probe 1 Positive Value</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x60FD</Index>
|
|
<SubIndex>#x00</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Digital Inputs</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
<!--ALL MODE-->
|
|
</TxPdo>
|
|
<TxPdo Fixed="0">
|
|
<Index>#x1a01</Index>
|
|
<Name>Transmit PDO 2</Name>
|
|
<Exclude>#x1A00</Exclude>
|
|
</TxPdo>
|
|
<Mailbox DataLinkLayer="1">
|
|
<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
|
|
<InitCmd>
|
|
<Transition>PS</Transition>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<Data>08</Data>
|
|
<Comment>Modes of Operation</Comment>
|
|
<!--CSP-->
|
|
</InitCmd>
|
|
</CoE>
|
|
</Mailbox>
|
|
<Dc>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x0300</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>Free Run</Name>
|
|
<Desc>Free-Run</Desc>
|
|
<AssignActivate>#x0000</AssignActivate>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>003c0000640000000000</ConfigData>
|
|
</Eeprom>
|
|
<ImageData16x14>424DF8010000000000003600000028000000100000000E0000000100100000000000C201000010170000101700000000000000000000FF7FFF7FFF7FFF7FFF7F7D6B9A3E3826F7215D637D67DE77FF7FFF7FFF7FFF7FFF7FFF7FFF7FDF7B5C5FFB4E1301540195057D637505B6113C5BFF7FFF7FFF7FFF7FFF7FFF7F382654019E6F1722340138261B535401540154013C5BFF7FFF7FFF7FFF7FDA4634015401382A7D67340179369A3E5401750154019509BE73FF7FFF7FFF7BF71D7505540134013C5B59325932993A5401750175013401BA42FF7FFF7F9D6F583279365932B611B6117D67582EDB463401750175015401F71DFF7FFF7F1B5334015401B61179361726BA3EFB4E3C5B1726540175015401B611FF7BFF7F1B535401750154015401382A582E3C5B1B537936540175015401B611FF7FFF7F7D67540175017501550195095C5FDB4A5C5F58325501750154011722FF7FFF7FFF7BD6155401750175017505950D5932FF7FFB4E540175013401DB4AFF7FFF7FFF7F1C57540175017501750154017505F719D61155015401D615DF7BFF7FFF7FFF7FFF7F9A3A34015401750175017501540154015401950D7D67FF7FFF7FFF7FFF7FFF7FFF7FFB4E960D5401540154013401540117269E6FFF7FFF7FFF7FFF7FFF7FFF7FFF7FFF7FDE773C5BBA42993EDB4A7D67FF7FFF7FFF7FFF7FFF7F0000</ImageData16x14>
|
|
</Device>
|
|
</Devices>
|
|
</Descriptions>
|
|
</EtherCATInfo>
|
