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Added a commandedVelocity variable for hal

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This commit is contained in:
Hakan Bastedt
2024-01-06 20:53:34 +01:00
parent ccde6ef15e
commit 9dcc713fab
6 changed files with 66 additions and 13 deletions
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52
Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
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@@ -125,7 +125,7 @@
</DataType>
<DataType>
<Name>DT1602</Name>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -146,6 +146,16 @@
<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>
@@ -414,7 +424,7 @@
</DataType>
<DataType>
<Name>DT7002</Name>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
@@ -436,6 +446,17 @@
<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>
@@ -612,12 +633,12 @@
<Index>#x1602</Index>
<Name>StepGenIn1</Name>
<Type>DT1602</Type>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -626,6 +647,12 @@
<DefaultValue>#x70020140</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedVelocity</Name>
<Info>
<DefaultValue>#x70020240</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1016,12 +1043,12 @@
<Index>#x7002</Index>
<Name>StepGenIn1</Name>
<Type>DT7002</Type>
<BitSize>80</BitSize>
<BitSize>144</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
@@ -1030,6 +1057,12 @@
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>CommandedVelocity</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
<Access>ro</Access>
@@ -1077,6 +1110,13 @@
<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>