1913 lines
54 KiB
XML
1913 lines
54 KiB
XML
<?xml version="1.0"?>
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<!-- edited with XMLSpy v2013 (http://www.altova.com) by () -->
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<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
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<Vendor>
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<Id>#x00688688</Id>
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<Name>Robust Motion Products</Name>
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<ImageData16x14>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</ImageData16x14>
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</Vendor>
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<Descriptions>
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<Groups>
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<Group SortOrder="0">
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<Type>RMAxis</Type>
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<Name LcId="1031">RM_CEU</Name>
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<Name LcId="1033">RM_CEU</Name>
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<ImageData16x14>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</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="#x22205682" RevisionNo="#x20220527">Robust Motion</Type>
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<Name LcId="1031">RM_CEU</Name>
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<Name LcId="1033">RM_CEU</Name>
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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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</StateMachine>
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<Mailbox>
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<Timeout>
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<RequestTimeout>100</RequestTimeout>
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<ResponseTimeout>2000</ResponseTimeout>
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</Timeout>
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</Mailbox>
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</Info>
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<GroupType>RMAxis</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>BIT</Name>
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<BitSize>1</BitSize>
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</DataType>
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<DataType>
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<Name>BIT8</Name>
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<BitSize>8</BitSize>
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</DataType>
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<DataType>
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<Name>SINT</Name>
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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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<BitSize>16</BitSize>
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</DataType>
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<DataType>
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<Name>DINT</Name>
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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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<BitSize>64</BitSize>
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</DataType>
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<DataType>
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<Name>USINT</Name>
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<BitSize>8</BitSize>
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</DataType>
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<DataType>
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<Name>UINT</Name>
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<BitSize>16</BitSize>
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</DataType>
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<DataType>
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<Name>UDINT</Name>
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<BitSize>32</BitSize>
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</DataType>
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<DataType>
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<Name>ULINT</Name>
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<BitSize>64</BitSize>
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</DataType>
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<DataType>
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<Name>REAL</Name>
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<BitSize>32</BitSize>
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</DataType>
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<DataType>
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<Name>LREAL</Name>
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<BitSize>64</BitSize>
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</DataType>
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<!--Robust Motion Data Types-->
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<DataType>
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<Name>DIRECT_MOTION</Name>
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<BitSize>128</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Target Position</Name>
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<Type>REAL</Type>
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<BitSize>32</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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<Access>rw</Access>
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<Category>m</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>Target Velocity</Name>
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<Type>REAL</Type>
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<BitSize>32</BitSize>
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<BitOffs>32</BitOffs>
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<Flags>
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<Access>rw</Access>
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<Category>m</Category>
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</Flags>
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</SubItem>
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<SubItem>
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<SubIdx>2</SubIdx>
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<Name>Target Acceleration</Name>
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<Type>REAL</Type>
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<BitSize>32</BitSize>
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<BitOffs>64</BitOffs>
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<Flags>
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<Access>rw</Access>
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<Category>m</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>Torque Limit</Name>
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<Type>REAL</Type>
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<BitSize>32</BitSize>
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<BitOffs>96</BitOffs>
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<Flags>
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<Access>rw</Access>
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<Category>m</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>Force-Sensor</Name>
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<BitSize>32</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>force-sensor-reading</Name>
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|
<Type>REAL</Type>
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<BitSize>32</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>m</Category>
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</Flags>
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</SubItem>
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</DataType>
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<DataType>
|
|
<Name>STATE_OBSERVER</Name>
|
|
<BitSize>96</BitSize>
|
|
<SubItem>
|
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<SubIdx>0</SubIdx>
|
|
<Name>Current Position</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
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<Category>m</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>Current Velocity</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
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|
</Flags>
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|
</SubItem>
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</DataType>
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|
|
|
<DataType>
|
|
<Name>CUSTOM-PARAM-D</Name>
|
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<BitSize>128</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>d0</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
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|
</Flags>
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</SubItem>
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<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>d1</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
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<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
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|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>d2</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>d3</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>d4</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
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</Flags>
|
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</SubItem>
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</DataType>
|
|
<DataType>
|
|
<Name>CUSTOM-PARAM-B</Name>
|
|
<BitSize>64</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>B0</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
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|
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>B1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>B2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>B3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>B4</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>B5</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>B6</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>B7</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>B8</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
|
|
<DataType>
|
|
<Name>CUSTOM-PARAM-F</Name>
|
|
<BitSize>96</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>f0</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>f1</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>f2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_CONTROL</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Command Start</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Command Stop</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Save Parameters</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Load Parameters</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Save Commands</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Load Commands</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Error Reset</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Servo On Off</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Command Pulse Enable</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Hardware Io Enable</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Load Trace</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>11</SubIdx>
|
|
<Name>Monitor Full</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>88</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>12</SubIdx>
|
|
<Name>Monitor Start</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>13</SubIdx>
|
|
<Name>In Position</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>104</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>14</SubIdx>
|
|
<Name>Error Alarm</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>15</SubIdx>
|
|
<Name>reset force</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>120</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
|
|
<SubItem>
|
|
<SubIdx>16</SubIdx>
|
|
<Name>restart</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>17</SubIdx>
|
|
<Name>command_auto_clear</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>136</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
|
|
<SubItem>
|
|
<SubIdx>18</SubIdx>
|
|
<Name>go_home</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>144</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
|
|
<SubItem>
|
|
<SubIdx>19</SubIdx>
|
|
<Name>position_deviation_overflow</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>152</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
|
|
<SubItem>
|
|
<SubIdx>20</SubIdx>
|
|
<Name>velocity_deviation_overflow</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>21</SubIdx>
|
|
<Name>motor_stuck</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>168</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>27</SubIdx>
|
|
<Name>gone_home</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>176</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>28</SubIdx>
|
|
<Name>align directmotion</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>184</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_COMMAND_ARR</Name>
|
|
<BaseType>USINT </BaseType>
|
|
<BitSize>256</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>32</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_CONTROL_start</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Start_0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Start_1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Start_2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Start_3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>Start_4</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>Start_5</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>Start_6</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>Start_7</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>Start_8</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>Start_9</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>Start_10</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_CONTROL Finished</Name>
|
|
<BitSize>88</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>finished_0</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>finished_1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>finished_2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>finished_3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>4</SubIdx>
|
|
<Name>finished_4</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>5</SubIdx>
|
|
<Name>finished_5</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>40</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>6</SubIdx>
|
|
<Name>finished_6</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>7</SubIdx>
|
|
<Name>finished_7</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>56</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>8</SubIdx>
|
|
<Name>finished_8</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>9</SubIdx>
|
|
<Name>finished_9</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>72</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>10</SubIdx>
|
|
<Name>finished_10</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
|
|
|
|
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_COMMAND_START</Name>
|
|
<BitSize>256</BitSize>
|
|
<SubItem>
|
|
<Name>Value</Name>
|
|
<Type>VIRTUAL_IO_COMMAND_ARR</Type>
|
|
<BitSize>256</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>VIRTUAL_IO_COMMAND_FINISHED</Name>
|
|
<BitSize>256</BitSize>
|
|
<SubItem>
|
|
<Name>Value</Name>
|
|
<Type>VIRTUAL_IO_COMMAND_ARR</Type>
|
|
<BitSize>256</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<!--CIA402 Data Types-->
|
|
<DataType>
|
|
<Name>SOFTWARE_POSITION_LIMIT_ARR</Name>
|
|
<BaseType>DINT</BaseType>
|
|
<BitSize>64</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>2</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>SOFTWARE_POSITION_LIMIT</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>
|
|
<Name>Elements</Name>
|
|
<Type>SOFTWARE_POSITION_LIMIT_ARR</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>HOMING_SPEEDS_ARR</Name>
|
|
<BaseType>UDINT</BaseType>
|
|
<BitSize>64</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>2</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>HOMING_SPEEDS</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>
|
|
<Name>Elements</Name>
|
|
<Type>HOMING_SPEEDS_ARR</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<!--CIA301 Objects-->
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<!--Robust Motion Objects-->
|
|
<Object>
|
|
<Index>#x2018</Index>
|
|
<Name>force-sensor</Name>
|
|
<Type>Force-Sensor</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2009</Index>
|
|
<Name>State Observer</Name>
|
|
<Type>STATE_OBSERVER</Type>
|
|
<BitSize>96</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
|
|
<Object>
|
|
<Index>#x201E</Index>
|
|
<Name>Custom-param-d</Name>
|
|
<Type>CUSTOM-PARAM-D</Type>
|
|
<BitSize>128</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
|
|
<Object>
|
|
<Index>#x2020</Index>
|
|
<Name>Custom-param-b</Name>
|
|
<Type>CUSTOM-PARAM-B</Type>
|
|
<BitSize>64</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
|
|
<Object>
|
|
<Index>#x201F</Index>
|
|
<Name>Custom-param-f</Name>
|
|
<Type>CUSTOM-PARAM-F</Type>
|
|
<BitSize>96</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
|
|
<Object>
|
|
<Index>#x200A</Index>
|
|
<Name>Virtual Io Control</Name>
|
|
<Type>VIRTUAL_IO_CONTROL</Type>
|
|
<BitSize>192</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x200B</Index>
|
|
<Name>Virtual Io Command Start</Name>
|
|
<Type>VIRTUAL_IO_CONTROL_start</Type>
|
|
<BitSize>88</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x200C</Index>
|
|
<Name>Virtual Io Command Finished</Name>
|
|
<Type>VIRTUAL_IO_CONTROL Finished</Type>
|
|
<BitSize>88</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2017</Index>
|
|
<Name>Direct Motion</Name>
|
|
<Type>DIRECT_MOTION</Type>
|
|
<BitSize>128</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2021</Index>
|
|
<Name>Virtual Io In Position Range</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<!--CIA402 Objects-->
|
|
<Object>
|
|
<Index>#x603f</Index>
|
|
<Name>ErrorCode</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>Controlword</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>Statusword</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605b</Index>
|
|
<Name>Shutdown Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#xffff</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605c</Index>
|
|
<Name>Disable Operation Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#xffff</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605d</Index>
|
|
<Name>Halt Option Code </Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x605e</Index>
|
|
<Name>Fault Reaction Option Code</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#xffff</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>Modes of Operation</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>Modes of Operation Display</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6062</Index>
|
|
<Name>Position Demand Value </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>Position Actual Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6065</Index>
|
|
<Name>Following Error Window </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6066</Index>
|
|
<Name>Following Error Time Out </Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6067</Index>
|
|
<Name>Position Window </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6068</Index>
|
|
<Name>Position Window Time </Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#xa</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606c</Index>
|
|
<Name>Velocity Actual Value</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6071</Index>
|
|
<Name>Target Torque</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>Target Position</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607c</Index>
|
|
<Name>Home Offset</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607d</Index>
|
|
<Name>Software position limit</Name>
|
|
<Type>SOFTWARE_POSITION_LIMIT</Type>
|
|
<BitSize>80</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Number of Entries</Name>
|
|
<Info>
|
|
<DefaultValue>#x2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Sub-Index 1</Name>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Sub-Index 2</Name>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6081</Index>
|
|
<Name>Profile Velocity in Profile Position Mode</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6083</Index>
|
|
<Name>Profile Acceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6084</Index>
|
|
<Name>Profile Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6085</Index>
|
|
<Name>Quick Stop Deceleration</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6087</Index>
|
|
<Name>Torque Slope </Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x186a0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
<PdoMapping>r</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6098</Index>
|
|
<Name>Homing Method</Name>
|
|
<Type>SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6099</Index>
|
|
<Name>Homing Speeds</Name>
|
|
<Type>HOMING_SPEEDS</Type>
|
|
<BitSize>80</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Number of Entries</Name>
|
|
<Info>
|
|
<DefaultValue>#x2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Sub-Index 1</Name>
|
|
<Info>
|
|
<DefaultValue>#x1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Sub-Index 2</Name>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60f4</Index>
|
|
<Name>Following Error Actual Value </Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>#x0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>t</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6502</Index>
|
|
<Name>Supported Drive Modes</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>Outputs</Fmmu>
|
|
<Fmmu>Inputs</Fmmu>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
|
|
<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
|
|
<Sm MinSize="32" MaxSize="64" DefaultSize="64" StartAddress="#x1200" ControlByte="#x24" Enable="1">Outputs</Sm>
|
|
<Sm MinSize="32" MaxSize="64" DefaultSize="64" StartAddress="#x1300" ControlByte="#x20" Enable="1">Inputs</Sm>
|
|
<RxPdo Fixed="false" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>RxPdo0</Name>
|
|
<Entry>
|
|
<Index>#x201F</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>F0</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x201F</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>F1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x201F</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>F2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x201E</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>D0</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<!-- <Entry>
|
|
<Index>#x201E</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>D1</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry> -->
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B0</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B1</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B2</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>3</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B3</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
</RxPdo>
|
|
<RxPdo Fixed="false" Sm="2">
|
|
<Index>#x1601</Index>
|
|
<Name>RxPdo1</Name>
|
|
<Entry>
|
|
<Index>#x2017</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Direct motion.position</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2017</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Direct motion.speed</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2017</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Direct motion.acceleration</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2017</Index>
|
|
<SubIndex>3</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Direct motion.torque</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="false" Sm="2">
|
|
<Index>#x1602</Index>
|
|
<Name>RxPdo2</Name>
|
|
<Entry>
|
|
<Index>#x200B</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>START_0</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200B</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>START_1</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200B</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>START_2</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200B</Index>
|
|
<SubIndex>3</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>START_3</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200B</Index>
|
|
<SubIndex>4</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>START_4</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x201E</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>D1</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x201E</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>D2</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="false" Sm="2">
|
|
<Index>#x1603</Index>
|
|
<Name>RxPdo3</Name>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Command_Stop</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<!-- <Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>28</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>align directmotion</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry> -->
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>15</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Reset_force</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>18</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Go_Home</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>6</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Reset_Error</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<!-- <Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>16</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Resetart</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry> -->
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>7</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Servo_on_off</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
</RxPdo>
|
|
<RxPdo Fixed="false" Sm="2">
|
|
<Index>#x1604</Index>
|
|
<Name>RxPdo4</Name>
|
|
|
|
</RxPdo>
|
|
<TxPdo Fixed="false" Sm="3">
|
|
<Index>#x1a00</Index>
|
|
<Name>TxPdo0</Name>
|
|
|
|
</TxPdo>
|
|
<TxPdo Fixed="false" Sm="3">
|
|
<Index>#x1a01</Index>
|
|
<Name>TxPdo1</Name>
|
|
<Entry>
|
|
<Index>#x2009</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>State observer.position</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2009</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Tate observer.velocty</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2001</Index>
|
|
<SubIndex>9</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Driver control.torque</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2018</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Force sensor.reading</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="false" Sm="3">
|
|
<Index>#x1a02</Index>
|
|
<Name>TxPdo2</Name>
|
|
<Entry>
|
|
<Index>#x200C</Index>
|
|
<SubIndex>0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>finished_0</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200C</Index>
|
|
<SubIndex>1</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>finished_1</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200C</Index>
|
|
<SubIndex>2</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>finished_2</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200C</Index>
|
|
<SubIndex>3</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>finished_3</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200C</Index>
|
|
<SubIndex>4</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>finished_4</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>4</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B4</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>5</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B5</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>6</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B6</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<!-- <Entry>
|
|
<Index>#x2020</Index>
|
|
<SubIndex>7</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>B7</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry> -->
|
|
|
|
</TxPdo>
|
|
<TxPdo Fixed="false" Sm="3">
|
|
<Index>#x1a03</Index>
|
|
<Name>TxPdo3</Name>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>19</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Position_deviation_overflow</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>20</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Velocity_deviation_overflow</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>21</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Motor_stuck</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>14</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Error Alarm</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
<Entry>
|
|
<Index>#x200A</Index>
|
|
<SubIndex>27</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Gone_home</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
|
|
</TxPdo>
|
|
|
|
<Mailbox DataLinkLayer="true">
|
|
<CoE SdoInfo="false" SegmentedSdo="true" CompleteAccess="false" PdoAssign="true" PdoConfig="true">
|
|
<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>Synchron</Name>
|
|
<Desc>SM-Synchron</Desc>
|
|
<AssignActivate>#x0</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x300</AssignActivate>
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
|
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>050603440a00000000001a007fff</ConfigData>
|
|
</Eeprom>
|
|
<ImageData16x14>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</ImageData16x14>
|
|
</Device>
|
|
</Devices>
|
|
</Descriptions>
|
|
</EtherCATInfo>
|
