218 files changed
+15103
-1479
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@@ -52,10 +52,12 @@
|
||||
<option value="INTEGER8">INTEGER8</option>
|
||||
<option value="INTEGER16">INTEGER16</option>
|
||||
<option value="INTEGER32">INTEGER32</option>
|
||||
<option value="INTEGER64">INTEGER64</option>
|
||||
<option value="UNSIGNED8">UNSIGNED8</option>
|
||||
<option value="UNSIGNED16">UNSIGNED16</option>
|
||||
<option value="UNSIGNED32">UNSIGNED32</option>
|
||||
<option value="UNSIGNED32">UNSIGNED64</option>
|
||||
<option value="REAL32">REAL32</option>
|
||||
<option value="REAL64">REAL64</option>
|
||||
<option value="VISIBLE_STRING">VISIBLE STRING</option>
|
||||
</select></td>
|
||||
</tr>
|
||||
@@ -412,4 +414,4 @@
|
||||
<input id="restoreFileInput" type='file' accept=".json" style="visibility:hidden;" onchange="readFile(event)" />
|
||||
</form>
|
||||
</div>
|
||||
</body>
|
||||
</body>
|
||||
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+10
-1
@@ -28,10 +28,13 @@ const DTYPE = {
|
||||
INTEGER8 : 'INTEGER8',
|
||||
INTEGER16 : 'INTEGER16',
|
||||
INTEGER32 : 'INTEGER32',
|
||||
INTEGER32 : 'INTEGER64',
|
||||
UNSIGNED8 : 'UNSIGNED8',
|
||||
UNSIGNED16 : 'UNSIGNED16',
|
||||
UNSIGNED32 : 'UNSIGNED32',
|
||||
UNSIGNED32 : 'UNSIGNED64',
|
||||
REAL32 : 'REAL32',
|
||||
REAL64 : 'REAL64',
|
||||
VISIBLE_STRING : 'VISIBLE_STRING',
|
||||
/* TODO implement missing less common types */
|
||||
// OCTET_STRING : 'OCTET_STRING',
|
||||
@@ -49,10 +52,13 @@ const dtype_bitsize = {
|
||||
'INTEGER8' : 8,
|
||||
'INTEGER16' : 16,
|
||||
'INTEGER32' : 32,
|
||||
'INTEGER64' : 64,
|
||||
'UNSIGNED8' : 8,
|
||||
'UNSIGNED16' : 16,
|
||||
'UNSIGNED32' : 32,
|
||||
'UNSIGNED64' : 64,
|
||||
'REAL32' : 32,
|
||||
'REAL64' : 64,
|
||||
'VISIBLE_STRING' : 8,
|
||||
};
|
||||
const booleanPaddingBitsize = 7;
|
||||
@@ -62,10 +68,13 @@ const ESI_DT = {
|
||||
'INTEGER8': { name: 'SINT', bitsize: 8, ctype: 'int8_t' },
|
||||
'INTEGER16': { name: 'INT', bitsize: 16, ctype: 'int16_t' },
|
||||
'INTEGER32': { name: 'DINT', bitsize: 32, ctype: 'int32_t' },
|
||||
'INTEGER64': { name: 'LINT', bitsize: 64, ctype: 'int64_t' },
|
||||
'UNSIGNED8': { name: 'USINT', bitsize: 8, ctype: 'uint8_t' },
|
||||
'UNSIGNED16': { name: 'UINT', bitsize: 16, ctype: 'uint16_t' },
|
||||
'UNSIGNED32': { name: 'UDINT', bitsize: 32, ctype: 'uint32_t' },
|
||||
'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, // TODO check C type name
|
||||
'UNSIGNED64': { name: 'ULINT', bitsize: 64, ctype: 'uint64_t' },
|
||||
'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' },
|
||||
'REAL64': { name: 'LREAL', bitsize: 64, ctype: 'double' },
|
||||
'VISIBLE_STRING': { name: 'STRING', bitsize: 8, ctype: 'char *' }, // TODO check C type name
|
||||
};
|
||||
|
||||
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+2
-1
@@ -9,5 +9,6 @@
|
||||
"unordered_map": "cpp",
|
||||
"vector": "cpp",
|
||||
"system_error": "cpp"
|
||||
}
|
||||
},
|
||||
"C_Cpp.errorSquiggles": "disabled"
|
||||
}
|
||||
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+336
-68
@@ -23,7 +23,7 @@
|
||||
<DataTypes>
|
||||
<DataType>
|
||||
<Name>DT1018</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<BitSize>272</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -37,8 +37,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>Vendor ID</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -47,9 +47,9 @@
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>Product Code</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>48</BitOffs>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
@@ -57,9 +57,9 @@
|
||||
<SubItem>
|
||||
<SubIdx>3</SubIdx>
|
||||
<Name>Revision Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>144</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
@@ -67,9 +67,9 @@
|
||||
<SubItem>
|
||||
<SubIdx>4</SubIdx>
|
||||
<Name>Serial Number</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitOffs>112</BitOffs>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>208</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
@@ -77,7 +77,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1600</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -91,8 +91,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncPosScale</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -101,7 +101,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1601</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -115,17 +115,51 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexLatchEnable</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1602</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A00</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -139,8 +173,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncPos</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -149,7 +183,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A01</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -163,8 +197,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -173,7 +207,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A02</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -187,8 +221,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>DiffT</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -197,7 +231,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A03</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -211,8 +245,8 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexByte</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -221,7 +255,7 @@
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A04</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -235,8 +269,32 @@
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>IndexStatus</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1A05</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>ActualPosition</Name>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -278,15 +336,15 @@
|
||||
<DataType>
|
||||
<Name>DT1C12ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>32</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>2</Elements>
|
||||
<Elements>3</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C12</Name>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>64</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -300,7 +358,7 @@
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C12ARR</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<BitSize>48</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -310,15 +368,15 @@
|
||||
<DataType>
|
||||
<Name>DT1C13ARR</Name>
|
||||
<BaseType>UINT</BaseType>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>96</BitSize>
|
||||
<ArrayInfo>
|
||||
<LBound>1</LBound>
|
||||
<Elements>5</Elements>
|
||||
<Elements>6</Elements>
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT1C13</Name>
|
||||
<BitSize>96</BitSize>
|
||||
<BitSize>112</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -332,7 +390,7 @@
|
||||
<SubItem>
|
||||
<Name>Elements</Name>
|
||||
<Type>DT1C13ARR</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<BitSize>96</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -340,8 +398,69 @@
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UDINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
<Name>DT6005</Name>
|
||||
<BitSize>80</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>ActualPosition</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>T</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>DT7002</Name>
|
||||
<BitSize>144</BitSize>
|
||||
<SubItem>
|
||||
<SubIdx>0</SubIdx>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Type>USINT</Type>
|
||||
<BitSize>8</BitSize>
|
||||
<BitOffs>0</BitOffs>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>1</SubIdx>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>16</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<SubIdx>2</SubIdx>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<BitOffs>80</BitOffs>
|
||||
<Flags>
|
||||
<Access WriteRestrictions="PreOP">ro</Access>
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</SubItem>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>ULINT</Name>
|
||||
<BitSize>64</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>STRING(26)</Name>
|
||||
@@ -360,7 +479,11 @@
|
||||
<BitSize>16</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>REAL</Name>
|
||||
<Name>LREAL</Name>
|
||||
<BitSize>64</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name>UDINT</Name>
|
||||
<BitSize>32</BitSize>
|
||||
</DataType>
|
||||
<DataType>
|
||||
@@ -372,8 +495,8 @@
|
||||
<Object>
|
||||
<Index>#x1000</Index>
|
||||
<Name>Device Type</Name>
|
||||
<Type>UDINT</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>ULINT</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>5001</DefaultValue>
|
||||
</Info>
|
||||
@@ -423,7 +546,7 @@
|
||||
<Index>#x1018</Index>
|
||||
<Name>Identity Object</Name>
|
||||
<Type>DT1018</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<BitSize>272</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -464,7 +587,7 @@
|
||||
<Index>#x1600</Index>
|
||||
<Name>EncPosScale</Name>
|
||||
<Type>DT1600</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -487,7 +610,7 @@
|
||||
<Index>#x1601</Index>
|
||||
<Name>IndexLatchEnable</Name>
|
||||
<Type>DT1601</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -506,11 +629,40 @@
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1602</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Type>DT1602</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70020140</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x70020240</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1A00</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Type>DT1A00</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -521,7 +673,7 @@
|
||||
<SubItem>
|
||||
<Name>EncPos</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60000020</DefaultValue>
|
||||
<DefaultValue>#x60000040</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
@@ -533,7 +685,7 @@
|
||||
<Index>#x1A01</Index>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>DT1A01</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -544,7 +696,7 @@
|
||||
<SubItem>
|
||||
<Name>EncFrequency</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60010020</DefaultValue>
|
||||
<DefaultValue>#x60010040</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
@@ -556,7 +708,7 @@
|
||||
<Index>#x1A02</Index>
|
||||
<Name>DiffT</Name>
|
||||
<Type>DT1A02</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -579,7 +731,7 @@
|
||||
<Index>#x1A03</Index>
|
||||
<Name>IndexByte</Name>
|
||||
<Type>DT1A03</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -602,7 +754,7 @@
|
||||
<Index>#x1A04</Index>
|
||||
<Name>IndexStatus</Name>
|
||||
<Type>DT1A04</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
@@ -621,6 +773,29 @@
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1A05</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Type>DT1A05</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>ActualPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x60050140</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x1C00</Index>
|
||||
<Name>Sync Manager Communication Type</Name>
|
||||
@@ -666,12 +841,12 @@
|
||||
<Index>#x1C12</Index>
|
||||
<Name>Sync Manager 2 PDO Assignment</Name>
|
||||
<Type>DT1C12</Type>
|
||||
<BitSize>48</BitSize>
|
||||
<BitSize>64</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
<DefaultValue>3</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
@@ -686,6 +861,12 @@
|
||||
<DefaultValue>#x1601</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1602</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -695,12 +876,12 @@
|
||||
<Index>#x1C13</Index>
|
||||
<Name>Sync Manager 3 PDO Assignment</Name>
|
||||
<Type>DT1C13</Type>
|
||||
<BitSize>96</BitSize>
|
||||
<BitSize>112</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>5</DefaultValue>
|
||||
<DefaultValue>6</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
@@ -733,6 +914,12 @@
|
||||
<DefaultValue>#x1A04</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>PDO Mapping</Name>
|
||||
<Info>
|
||||
<DefaultValue>#x1A05</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
@@ -741,8 +928,8 @@
|
||||
<Object>
|
||||
<Index>#x6000</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Type>REAL</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
@@ -754,8 +941,8 @@
|
||||
<Object>
|
||||
<Index>#x6001</Index>
|
||||
<Name>EncFrequency</Name>
|
||||
<Type>REAL</Type>
|
||||
<BitSize>32</BitSize>
|
||||
<Type>LREAL</Type>
|
||||
<BitSize>64</BitSize>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
@@ -803,6 +990,29 @@
|
||||
<PdoMapping>T</PdoMapping>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x6005</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Type>DT6005</Type>
|
||||
<BitSize>80</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>1</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>ActualPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x7000</Index>
|
||||
<Name>EncPosScale</Name>
|
||||
@@ -829,6 +1039,35 @@
|
||||
<PdoMapping>R</PdoMapping>
|
||||
</Flags>
|
||||
</Object>
|
||||
<Object>
|
||||
<Index>#x7002</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Type>DT7002</Type>
|
||||
<BitSize>144</BitSize>
|
||||
<Info>
|
||||
<SubItem>
|
||||
<Name>Max SubIndex</Name>
|
||||
<Info>
|
||||
<DefaultValue>2</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedPosition</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
<SubItem>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<Info>
|
||||
<DefaultValue>0</DefaultValue>
|
||||
</Info>
|
||||
</SubItem>
|
||||
</Info>
|
||||
<Flags>
|
||||
<Access>ro</Access>
|
||||
</Flags>
|
||||
</Object>
|
||||
</Objects>
|
||||
</Dictionary>
|
||||
</Profile>
|
||||
@@ -861,15 +1100,33 @@
|
||||
<DataType>UDINT</DataType>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
||||
<Index>#x1602</Index>
|
||||
<Name>StepGenIn1</Name>
|
||||
<Entry>
|
||||
<Index>#x7002</Index>
|
||||
<SubIndex>#x1</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>CommandedPosition</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
<Entry>
|
||||
<Index>#x7002</Index>
|
||||
<SubIndex>#x2</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>CommandedVelocity</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</RxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A00</Index>
|
||||
<Name>EncPos</Name>
|
||||
<Entry>
|
||||
<Index>#x6000</Index>
|
||||
<SubIndex>#x0</SubIndex>
|
||||
<BitLen>32</BitLen>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>EncPos</Name>
|
||||
<DataType>REAL</DataType>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
@@ -878,9 +1135,9 @@
|
||||
<Entry>
|
||||
<Index>#x6001</Index>
|
||||
<SubIndex>#x0</SubIndex>
|
||||
<BitLen>32</BitLen>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>EncFrequency</Name>
|
||||
<DataType>REAL</DataType>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
@@ -916,6 +1173,17 @@
|
||||
<DataType>UDINT</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
||||
<Index>#x1A05</Index>
|
||||
<Name>StepGenOut1</Name>
|
||||
<Entry>
|
||||
<Index>#x6005</Index>
|
||||
<SubIndex>#x1</SubIndex>
|
||||
<BitLen>64</BitLen>
|
||||
<Name>ActualPosition</Name>
|
||||
<DataType>LREAL</DataType>
|
||||
</Entry>
|
||||
</TxPdo>
|
||||
<Mailbox DataLinkLayer="true">
|
||||
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
|
||||
</Mailbox>
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -33,8 +33,8 @@
|
||||
#define SM3_smc 0x20
|
||||
#define SM3_act 1
|
||||
|
||||
#define MAX_MAPPINGS_SM2 2
|
||||
#define MAX_MAPPINGS_SM3 5
|
||||
#define MAX_MAPPINGS_SM2 4
|
||||
#define MAX_MAPPINGS_SM3 6
|
||||
|
||||
#define MAX_RXPDO_SIZE 512
|
||||
#define MAX_TXPDO_SIZE 512
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -57,7 +57,7 @@
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"dtype": "REAL64",
|
||||
"value": "0",
|
||||
"data": "&Obj.EncPos"
|
||||
},
|
||||
@@ -68,7 +68,7 @@
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
],
|
||||
"dtype": "REAL32",
|
||||
"dtype": "REAL64",
|
||||
"value": "0",
|
||||
"data": "&Obj.EncFrequency"
|
||||
},
|
||||
@@ -104,6 +104,26 @@
|
||||
"dtype": "UNSIGNED32",
|
||||
"value": "0",
|
||||
"data": "&Obj.IndexStatus"
|
||||
},
|
||||
"6005": {
|
||||
"otype": "RECORD",
|
||||
"name": "StepGenOut1",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "ActualPosition",
|
||||
"dtype": "REAL64",
|
||||
"data": "&Obj.StepGenOut1.ActualPosition",
|
||||
"value": "0",
|
||||
"access": "RO"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"txpdo"
|
||||
]
|
||||
}
|
||||
},
|
||||
"rxpdo": {
|
||||
@@ -129,6 +149,33 @@
|
||||
"value": "0",
|
||||
"data": "&Obj.IndexLatchEnable"
|
||||
},
|
||||
"7002": {
|
||||
"otype": "RECORD",
|
||||
"name": "StepGenIn1",
|
||||
"access": "RO",
|
||||
"items": [
|
||||
{
|
||||
"name": "Max SubIndex"
|
||||
},
|
||||
{
|
||||
"name": "CommandedPosition",
|
||||
"dtype": "REAL64",
|
||||
"data": "&Obj.StepGenIn1.CommandedPosition",
|
||||
"value": "0",
|
||||
"access": "RO"
|
||||
},
|
||||
{
|
||||
"name": "CommandedVelocity",
|
||||
"dtype": "REAL64",
|
||||
"value": "0",
|
||||
"access": "RO",
|
||||
"data": "&Obj.StepGenIn1.CommandedVelocity"
|
||||
}
|
||||
],
|
||||
"pdo_mappings": [
|
||||
"rxpdo"
|
||||
]
|
||||
},
|
||||
"60664": {
|
||||
"otype": "VAR",
|
||||
"name": "ActualPosition",
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -19,6 +19,10 @@ static const char acName1600_01[] = "EncPosScale";
|
||||
static const char acName1601[] = "IndexLatchEnable";
|
||||
static const char acName1601_00[] = "Max SubIndex";
|
||||
static const char acName1601_01[] = "IndexLatchEnable";
|
||||
static const char acName1602[] = "StepGenIn1";
|
||||
static const char acName1602_00[] = "Max SubIndex";
|
||||
static const char acName1602_01[] = "CommandedPosition";
|
||||
static const char acName1602_02[] = "CommandedVelocity";
|
||||
static const char acName1A00[] = "EncPos";
|
||||
static const char acName1A00_00[] = "Max SubIndex";
|
||||
static const char acName1A00_01[] = "EncPos";
|
||||
@@ -34,6 +38,9 @@ static const char acName1A03_01[] = "IndexByte";
|
||||
static const char acName1A04[] = "IndexStatus";
|
||||
static const char acName1A04_00[] = "Max SubIndex";
|
||||
static const char acName1A04_01[] = "IndexStatus";
|
||||
static const char acName1A05[] = "StepGenOut1";
|
||||
static const char acName1A05_00[] = "Max SubIndex";
|
||||
static const char acName1A05_01[] = "ActualPosition";
|
||||
static const char acName1C00[] = "Sync Manager Communication Type";
|
||||
static const char acName1C00_00[] = "Max SubIndex";
|
||||
static const char acName1C00_01[] = "Communications Type SM0";
|
||||
@@ -44,6 +51,7 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
|
||||
static const char acName1C12_00[] = "Max SubIndex";
|
||||
static const char acName1C12_01[] = "PDO Mapping";
|
||||
static const char acName1C12_02[] = "PDO Mapping";
|
||||
static const char acName1C12_03[] = "PDO Mapping";
|
||||
static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
|
||||
static const char acName1C13_00[] = "Max SubIndex";
|
||||
static const char acName1C13_01[] = "PDO Mapping";
|
||||
@@ -51,17 +59,25 @@ static const char acName1C13_02[] = "PDO Mapping";
|
||||
static const char acName1C13_03[] = "PDO Mapping";
|
||||
static const char acName1C13_04[] = "PDO Mapping";
|
||||
static const char acName1C13_05[] = "PDO Mapping";
|
||||
static const char acName1C13_06[] = "PDO Mapping";
|
||||
static const char acName6000[] = "EncPos";
|
||||
static const char acName6001[] = "EncFrequency";
|
||||
static const char acName6002[] = "DiffT";
|
||||
static const char acName6003[] = "IndexByte";
|
||||
static const char acName6004[] = "IndexStatus";
|
||||
static const char acName6005[] = "StepGenOut1";
|
||||
static const char acName6005_00[] = "Max SubIndex";
|
||||
static const char acName6005_01[] = "ActualPosition";
|
||||
static const char acName7000[] = "EncPosScale";
|
||||
static const char acName7001[] = "IndexLatchEnable";
|
||||
static const char acName7002[] = "StepGenIn1";
|
||||
static const char acName7002_00[] = "Max SubIndex";
|
||||
static const char acName7002_01[] = "CommandedPosition";
|
||||
static const char acName7002_02[] = "CommandedVelocity";
|
||||
|
||||
const _objd SDO1000[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
|
||||
{0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
|
||||
};
|
||||
const _objd SDO1008[] =
|
||||
{
|
||||
@@ -78,45 +94,56 @@ const _objd SDO100A[] =
|
||||
const _objd SDO1018[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
|
||||
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
|
||||
{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
|
||||
{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
|
||||
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
|
||||
{0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
|
||||
{0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
|
||||
};
|
||||
const _objd SDO1600[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
|
||||
};
|
||||
const _objd SDO1601[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
|
||||
};
|
||||
const _objd SDO1602[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
|
||||
{0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL},
|
||||
};
|
||||
const _objd SDO1A00[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
|
||||
};
|
||||
const _objd SDO1A01[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
|
||||
};
|
||||
const _objd SDO1A02[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
|
||||
};
|
||||
const _objd SDO1A03[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
|
||||
};
|
||||
const _objd SDO1A04[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
|
||||
};
|
||||
const _objd SDO1A05[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
|
||||
{0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
|
||||
};
|
||||
const _objd SDO1C00[] =
|
||||
{
|
||||
@@ -128,26 +155,28 @@ const _objd SDO1C00[] =
|
||||
};
|
||||
const _objd SDO1C12[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
|
||||
};
|
||||
const _objd SDO1C13[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 6, NULL},
|
||||
{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
|
||||
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
|
||||
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
|
||||
{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
|
||||
{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
|
||||
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
|
||||
};
|
||||
const _objd SDO6000[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
|
||||
{0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
|
||||
};
|
||||
const _objd SDO6001[] =
|
||||
{
|
||||
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
|
||||
{0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
|
||||
};
|
||||
const _objd SDO6002[] =
|
||||
{
|
||||
@@ -161,6 +190,11 @@ const _objd SDO6004[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
|
||||
};
|
||||
const _objd SDO6005[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
|
||||
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
|
||||
};
|
||||
const _objd SDO7000[] =
|
||||
{
|
||||
{0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
|
||||
@@ -169,6 +203,12 @@ const _objd SDO7001[] =
|
||||
{
|
||||
{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
|
||||
};
|
||||
const _objd SDO7002[] =
|
||||
{
|
||||
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
|
||||
{0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
|
||||
{0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity},
|
||||
};
|
||||
|
||||
const _objectlist SDOobjects[] =
|
||||
{
|
||||
@@ -179,20 +219,24 @@ const _objectlist SDOobjects[] =
|
||||
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
|
||||
{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
|
||||
{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
|
||||
{0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
|
||||
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
||||
{0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
|
||||
{0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
|
||||
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
|
||||
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
|
||||
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
|
||||
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
||||
{0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
|
||||
{0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
|
||||
{0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
|
||||
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
|
||||
{0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
|
||||
{0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
|
||||
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
|
||||
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
|
||||
{0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
|
||||
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
|
||||
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
|
||||
{0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
|
||||
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
||||
};
|
||||
@@ -13,16 +13,25 @@ typedef struct
|
||||
|
||||
/* Inputs */
|
||||
|
||||
float EncPos;
|
||||
float EncFrequency;
|
||||
double EncPos;
|
||||
double EncFrequency;
|
||||
uint32_t DiffT;
|
||||
uint32_t IndexByte;
|
||||
uint32_t IndexStatus;
|
||||
struct
|
||||
{
|
||||
double ActualPosition;
|
||||
} StepGenOut1;
|
||||
|
||||
/* Outputs */
|
||||
|
||||
int32_t EncPosScale;
|
||||
uint32_t IndexLatchEnable;
|
||||
struct
|
||||
{
|
||||
double CommandedPosition;
|
||||
double CommandedVelocity;
|
||||
} StepGenIn1;
|
||||
|
||||
} _Objects;
|
||||
|
||||
File renamed without changes.
File renamed without changes.
@@ -1,4 +1,5 @@
|
||||
#include <Arduino.h>
|
||||
#include <HardwareTimer.h>
|
||||
|
||||
#include <stdio.h>
|
||||
extern "C"
|
||||
@@ -11,13 +12,12 @@ extern "C"
|
||||
CircularBuffer<double_t, RINGBUFFERLEN> Pos;
|
||||
CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
|
||||
|
||||
#include <Stm32F4_Encoder.h>
|
||||
int64_t PreviousEncoderCounterValue = 0;
|
||||
int64_t unwrap_encoder(uint16_t in, int64_t *prev);
|
||||
#include <Stm32F4_Encoder.h>
|
||||
Encoder EncoderInit;
|
||||
Encoder *encP = &EncoderInit;
|
||||
|
||||
// #include "Stepper.h"
|
||||
#define INDEX_PIN PA2
|
||||
HardwareSerial Serial1(PA10, PA9);
|
||||
_Objects Obj;
|
||||
@@ -29,7 +29,18 @@ uint8_t OldLatchCEnable = 0;
|
||||
volatile uint8_t indexPulseFired = 0;
|
||||
uint32_t nFires = 0;
|
||||
volatile uint8_t pleaseZeroTheCounter = 0;
|
||||
uint32_t PrevTime = 0, Prev2Time = 0;
|
||||
|
||||
#define STEPPER_DIR_PIN PA12
|
||||
#define STEPPER_STEP_PIN PA11
|
||||
HardwareTimer *MyTim;
|
||||
volatile uint32_t stepCount = 0, stepPulses = 0;
|
||||
volatile double_t actualPosition = 0;
|
||||
volatile double_t requestedPosition, requestedVelocity;
|
||||
|
||||
uint32_t sync0CycleTime = 0;
|
||||
|
||||
void handleStepper(void);
|
||||
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
|
||||
|
||||
void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
|
||||
{
|
||||
@@ -44,6 +55,8 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
|
||||
CurPosScale = Obj.EncPosScale;
|
||||
PosScaleRes = 1.0 / double(CurPosScale);
|
||||
}
|
||||
requestedPosition = Obj.StepGenIn1.CommandedPosition;
|
||||
requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
|
||||
}
|
||||
|
||||
void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
@@ -56,10 +69,7 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
nFires++;
|
||||
PreviousEncoderCounterValue = 0;
|
||||
}
|
||||
uint64_t now = micros(); // Exploring the cycle times
|
||||
Obj.DiffT = now - Prev2Time;
|
||||
Prev2Time = PrevTime;
|
||||
PrevTime = now;
|
||||
// Obj.DiffT = sync0CycleTime;
|
||||
|
||||
int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
|
||||
double CurPos = pos * PosScaleRes;
|
||||
@@ -79,47 +89,88 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
|
||||
Obj.IndexByte = digitalRead(INDEX_PIN);
|
||||
if (Obj.IndexByte)
|
||||
Serial1.printf("IS 1\n");
|
||||
|
||||
Obj.StepGenOut1.ActualPosition = actualPosition;
|
||||
Obj.DiffT = 10000 * requestedPosition; // deltaT;
|
||||
}
|
||||
|
||||
void ESC_interrupt_enable(uint32_t mask);
|
||||
void ESC_interrupt_disable(uint32_t mask);
|
||||
uint16_t dc_checker(void);
|
||||
|
||||
static esc_cfg_t config =
|
||||
{
|
||||
.user_arg = NULL,
|
||||
.use_interrupt = 0,
|
||||
.use_interrupt = 1,
|
||||
.watchdog_cnt = 150,
|
||||
.set_defaults_hook = NULL,
|
||||
.pre_state_change_hook = NULL,
|
||||
.post_state_change_hook = NULL,
|
||||
.application_hook = NULL, // StepGen,
|
||||
.application_hook = handleStepper, // StepGen,
|
||||
.safeoutput_override = NULL,
|
||||
.pre_object_download_hook = NULL,
|
||||
.post_object_download_hook = NULL,
|
||||
.rxpdo_override = NULL,
|
||||
.txpdo_override = NULL,
|
||||
.esc_hw_interrupt_enable = NULL,
|
||||
.esc_hw_interrupt_disable = NULL,
|
||||
.esc_hw_interrupt_enable = ESC_interrupt_enable,
|
||||
.esc_hw_interrupt_disable = ESC_interrupt_disable,
|
||||
.esc_hw_eep_handler = NULL,
|
||||
.esc_check_dc_handler = NULL,
|
||||
.esc_check_dc_handler = dc_checker,
|
||||
};
|
||||
|
||||
void TimerStep_CB(void)
|
||||
{
|
||||
stepCount++;
|
||||
if (stepCount == stepPulses)
|
||||
{
|
||||
MyTim->pause();
|
||||
}
|
||||
}
|
||||
|
||||
void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
|
||||
{
|
||||
byte sgn = pulses > 0 ? HIGH : LOW;
|
||||
digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
|
||||
uint32_t puls = abs(pulses);
|
||||
MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
|
||||
MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
|
||||
stepCount = 0;
|
||||
stepPulses = abs(pulses);
|
||||
MyTim->resume();
|
||||
}
|
||||
|
||||
void sync0Handler(void);
|
||||
void setup(void)
|
||||
{
|
||||
Serial1.begin(115200);
|
||||
rcc_config();
|
||||
|
||||
TIM_TypeDef *Instance = TIM1;
|
||||
MyTim = new HardwareTimer(Instance);
|
||||
MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
|
||||
MyTim->attachInterrupt(TimerStep_CB);
|
||||
pinMode(STEPPER_DIR_PIN, OUTPUT);
|
||||
|
||||
// Set starting count value
|
||||
EncoderInit.SetCount(Tim2, 0);
|
||||
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
|
||||
// EncoderInit.SetCount(Tim3, 0);
|
||||
// EncoderInit.SetCount(Tim4, 0);
|
||||
// EncoderInit.SetCount(Tim8, 0);
|
||||
|
||||
ecat_slv_init(&config);
|
||||
attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
|
||||
}
|
||||
|
||||
volatile byte serveIRQ = 0;
|
||||
void loop(void)
|
||||
{
|
||||
ESCvar.PrevTime = ESCvar.Time;
|
||||
ecat_slv();
|
||||
if (serveIRQ)
|
||||
{
|
||||
DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
|
||||
DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
|
||||
serveIRQ = 0;
|
||||
}
|
||||
ecat_slv_poll();
|
||||
}
|
||||
|
||||
#define ONE_PERIOD 65536
|
||||
@@ -151,4 +202,67 @@ void indexPulse(void)
|
||||
TDelta.clear();
|
||||
pleaseZeroTheCounter = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void sync0Handler(void)
|
||||
{
|
||||
serveIRQ = 1;
|
||||
}
|
||||
|
||||
void handleStepper(void)
|
||||
{
|
||||
byte forwardDirection = 0; // 1 if going forward
|
||||
int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
|
||||
if (pulsesToGo != 0)
|
||||
makePulses(900, pulsesToGo); // Make the pulses using hardware timer
|
||||
|
||||
actualPosition = requestedPosition;
|
||||
}
|
||||
void ESC_interrupt_enable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
|
||||
ESCREG_ALEVENT_SM2 |
|
||||
ESCREG_ALEVENT_SM3;
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
|
||||
attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
|
||||
|
||||
// Set LAN9252 interrupt pin driver as push-pull active high
|
||||
uint32_t bits = 0x00000111;
|
||||
ESC_write(0x54, &bits, 4);
|
||||
|
||||
// Enable LAN9252 interrupt
|
||||
bits = 0x00000001;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
void ESC_interrupt_disable(uint32_t mask)
|
||||
{
|
||||
// Enable interrupt for SYNC0 or SM2 or SM3
|
||||
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
|
||||
ESCREG_ALEVENT_SM2 |
|
||||
ESCREG_ALEVENT_SM3;
|
||||
|
||||
if (mask & user_int_mask)
|
||||
{
|
||||
// Disable interrupt from SYNC0
|
||||
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
|
||||
detachInterrupt(digitalPinToInterrupt(PC3));
|
||||
// Disable LAN9252 interrupt
|
||||
uint32_t bits = 0x00000000;
|
||||
ESC_write(0x5c, &bits, 4);
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" uint32_t ESC_SYNC0cycletime(void);
|
||||
// Setup of DC
|
||||
uint16_t dc_checker(void)
|
||||
{
|
||||
// Indicate we run DC
|
||||
ESCvar.dcsync = 0;
|
||||
sync0CycleTime = ESC_SYNC0cycletime();
|
||||
return 0;
|
||||
}
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
+142
-142
@@ -1741,7 +1741,7 @@
|
||||
)
|
||||
(pin "1" (uuid fb15a621-267f-4a84-811a-ce0a4f84f2da))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR026") (unit 1)
|
||||
)
|
||||
@@ -1766,7 +1766,7 @@
|
||||
)
|
||||
(pin "1" (uuid 0f59e530-d281-44f0-8b56-6d8b1873bdcf))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR017") (unit 1)
|
||||
)
|
||||
@@ -1777,7 +1777,7 @@
|
||||
(symbol (lib_id "Device:C") (at 87.63 165.1 0) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no)
|
||||
(uuid 103155a9-e700-4183-b756-a6fc8ca57bcd)
|
||||
(property "Reference" "C7" (at 87.63 162.56 0)
|
||||
(property "Reference" "C17" (at 87.63 162.56 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left))
|
||||
)
|
||||
(property "Value" "0.1uF" (at 87.63 167.64 0)
|
||||
@@ -1792,9 +1792,9 @@
|
||||
(pin "1" (uuid 7ad1d6ec-d31e-43cc-96d9-48bf5eecee4f))
|
||||
(pin "2" (uuid c250fbab-f5d1-4d40-b772-d14ab332b0c7))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "C7") (unit 1)
|
||||
(reference "C17") (unit 1)
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -1820,7 +1820,7 @@
|
||||
(pin "3" (uuid 547ae47d-ecde-4a59-8eff-f931770339d7))
|
||||
(pin "1" (uuid 883ea244-d5fa-4e22-95a4-0623dbc2c40c))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "Y1") (unit 1)
|
||||
)
|
||||
@@ -1831,7 +1831,7 @@
|
||||
(symbol (lib_id "Device:C") (at 237.49 39.37 0) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
|
||||
(uuid 11d5ea8f-3a28-42fa-b01d-beb1a86a57de)
|
||||
(property "Reference" "C17" (at 240.411 38.1579 0)
|
||||
(property "Reference" "C12" (at 240.411 38.1579 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left))
|
||||
)
|
||||
(property "Value" "18pF" (at 240.411 40.5821 0)
|
||||
@@ -1846,9 +1846,9 @@
|
||||
(pin "1" (uuid 3a63d80d-31e2-4a10-8578-1e6dac2941a6))
|
||||
(pin "2" (uuid ea1ca053-aa8d-4d15-8946-0ba4e2e46b0f))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "C17") (unit 1)
|
||||
(reference "C12") (unit 1)
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -1871,7 +1871,7 @@
|
||||
)
|
||||
(pin "1" (uuid 841beac6-d388-4f18-a376-adb89f0f6776))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -1885,7 +1885,7 @@
|
||||
(symbol (lib_id "HakansLibrary:AX58100") (at 139.7 134.62 0) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no)
|
||||
(uuid 151decbc-1b66-4082-88a8-6da1bb3d9015)
|
||||
(property "Reference" "U1" (at 91.44 83.82 0)
|
||||
(property "Reference" "U2" (at 91.44 83.82 0)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Value" "AX58100" (at 139.7 134.62 0)
|
||||
@@ -1979,9 +1979,9 @@
|
||||
(pin "73" (uuid 806ce680-917d-43c0-9441-07ebfb72d3b0))
|
||||
(pin "78" (uuid 347c6823-6f1c-4095-a476-7f314d48e804))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "U1") (unit 1)
|
||||
(reference "U2") (unit 1)
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -2004,7 +2004,7 @@
|
||||
)
|
||||
(pin "1" (uuid 87929de3-50de-4923-ba4a-68117c7182f5))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -2032,7 +2032,7 @@
|
||||
)
|
||||
(pin "1" (uuid 4c1e0cd1-5e7b-4db3-bcff-7da4440d68bd))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -2060,7 +2060,7 @@
|
||||
)
|
||||
(pin "1" (uuid 8f547c0f-886f-4dd0-be6f-d7f92d135e46))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR019") (unit 1)
|
||||
)
|
||||
@@ -2085,7 +2085,7 @@
|
||||
)
|
||||
(pin "1" (uuid 2823a797-c9a1-46e1-a9d3-236cf6ee016c))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR033") (unit 1)
|
||||
)
|
||||
@@ -2110,7 +2110,7 @@
|
||||
)
|
||||
(pin "1" (uuid 1c726c76-904e-4b2a-bd13-f0cf038e2273))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR01") (unit 1)
|
||||
)
|
||||
@@ -2121,7 +2121,7 @@
|
||||
(symbol (lib_id "Device:C") (at 132.08 165.1 0) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no)
|
||||
(uuid 28999b48-7a3f-4a2d-8295-808981bd0f46)
|
||||
(property "Reference" "C11" (at 132.08 162.56 0)
|
||||
(property "Reference" "C30" (at 132.08 162.56 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left))
|
||||
)
|
||||
(property "Value" "0.1uF" (at 132.08 167.64 0)
|
||||
@@ -2136,9 +2136,9 @@
|
||||
(pin "1" (uuid 0f6d79d6-c65f-41ac-803d-10bbaeb2552d))
|
||||
(pin "2" (uuid d2569f20-b577-4ada-99f9-6d234aba09cc))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "C11") (unit 1)
|
||||
(reference "C30") (unit 1)
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -2161,7 +2161,7 @@
|
||||
)
|
||||
(pin "1" (uuid 2d7eb0d2-1b0b-4f05-82b0-146ccec21531))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -2175,7 +2175,7 @@
|
||||
(symbol (lib_id "Device:R") (at 80.01 127 180) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no)
|
||||
(uuid 32075a8b-69da-4a9b-bc51-4abd88b43499)
|
||||
(property "Reference" "R3" (at 80.01 127 90)
|
||||
(property "Reference" "R30" (at 80.01 127 90)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Value" "22" (at 78.74 124.46 90)
|
||||
@@ -2190,9 +2190,9 @@
|
||||
(pin "1" (uuid ad6923a0-6b7d-489a-a9dd-8f7afd4ae372))
|
||||
(pin "2" (uuid 66b077c4-6592-4f14-aebe-098aa0b621a9))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "R3") (unit 1)
|
||||
(reference "R30") (unit 1)
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -2215,7 +2215,7 @@
|
||||
)
|
||||
(pin "1" (uuid 1feb0024-dcf9-4a52-b90b-523142fa1a38))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR041") (unit 1)
|
||||
)
|
||||
@@ -2240,7 +2240,7 @@
|
||||
)
|
||||
(pin "1" (uuid b9ad7e18-2207-48f9-b14c-bc7f3b4ebfda))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -2268,7 +2268,7 @@
|
||||
)
|
||||
(pin "1" (uuid 51b8e8dc-ebdc-4c46-8273-4e50f1175f36))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
|
||||
(reference "#PWR?") (unit 1)
|
||||
)
|
||||
@@ -2296,7 +2296,7 @@
|
||||
)
|
||||
(pin "1" (uuid 6ce616c0-e184-45b3-beb0-cf49e9083ffa))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR035") (unit 1)
|
||||
)
|
||||
@@ -2321,7 +2321,7 @@
|
||||
)
|
||||
(pin "1" (uuid 02874ab1-292a-4ad2-9607-cf7c93c7f6b3))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "#PWR011") (unit 1)
|
||||
)
|
||||
@@ -2332,7 +2332,7 @@
|
||||
(symbol (lib_id "Device:R") (at 52.07 60.96 90) (unit 1)
|
||||
(in_bom yes) (on_board yes) (dnp no)
|
||||
(uuid 45a449d5-9134-41f8-aaba-983731aca91e)
|
||||
(property "Reference" "R1" (at 52.07 60.96 90)
|
||||
(property "Reference" "R40" (at 52.07 60.96 90)
|
||||
(effects (font (size 1.27 1.27)))
|
||||
)
|
||||
(property "Value" "22" (at 54.61 59.69 90)
|
||||
@@ -2347,9 +2347,9 @@
|
||||
(pin "1" (uuid 236f6bf4-db44-48d8-a0c5-89925784c26c))
|
||||
(pin "2" (uuid f4321da1-878f-42ff-83c8-1c7713080248))
|
||||
(instances
|
||||
(project "AX58100-stm32-ethercat"
|
||||
(project "Ax58100-stm32-ethercat"
|
||||
(path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
|
||||
(reference "R1") (unit 1)
|
||||
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File renamed without changes.
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