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New enable input. Add dc ability. Set only SM2 synchronization. Various to make lathe work

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This commit is contained in:
Hakan Bastedt
2024-01-18 14:26:51 +01:00
parent 38825bbaf3
commit 9ab4afabe4
8 changed files with 161 additions and 16 deletions
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114
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
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@@ -191,6 +191,40 @@
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1604</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>Enable1</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Padding 1</Name>
<Type>ULINT</Type>
<BitSize>64</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>80</BitSize>
@@ -394,15 +428,15 @@
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>64</BitSize>
<BitSize>80</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
<Elements>5</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -416,7 +450,7 @@
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>64</BitSize>
<BitSize>80</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
@@ -613,6 +647,10 @@
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
</DataTypes>
<Objects>
<Object>
@@ -810,6 +848,35 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1604</Index>
<Name>Enable1</Name>
<Type>DT1604</Type>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Enable1</Name>
<Info>
<DefaultValue>#x70040001</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Padding 1</Name>
<Info>
<DefaultValue>#x00000007</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>EncPos</Name>
@@ -1016,12 +1083,12 @@
<Index>#x1C12</Index>
<Name>Sync Manager 2 PDO Assignment</Name>
<Type>DT1C12</Type>
<BitSize>80</BitSize>
<BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
<DefaultValue>5</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -1048,6 +1115,12 @@
<DefaultValue>#x1603</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1604</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1307,6 +1380,19 @@
<Access>ro</Access>
</Flags>
</Object>
<Object>
<Index>#x7004</Index>
<Name>Enable1</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
@@ -1375,6 +1461,22 @@
<DataType>INT</DataType>
</Entry>
</RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1604</Index>
<Name>Enable1</Name>
<Entry>
<Index>#x7004</Index>
<SubIndex>#x0</SubIndex>
<BitLen>1</BitLen>
<Name>Enable1</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>0</Index>
<SubIndex>0</SubIndex>
<BitLen>7</BitLen>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>EncPos</Name>