1462 lines
48 KiB
XML
Executable File
1462 lines
48 KiB
XML
Executable File
<?xml version="1.0" encoding="UTF-8"?>
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<EtherCATInfo>
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<Vendor>
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<Id>4321</Id>
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<Name LcId="1033">MetalMusings</Name>
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</Vendor>
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<Descriptions>
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<Groups>
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<Group>
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<Type>myEncoder</Type>
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<Name LcId="1033">lan9252</Name>
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|
</Group>
|
|
</Groups>
|
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<Devices>
|
|
<Device Physics="YY ">
|
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<Type ProductCode="#x4d2" RevisionNo="#x1">EaserCAT2000</Type>
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<Name LcId="1033">MetalMusings EaserCAT 2000 encoder</Name>
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<GroupType>myEncoder</GroupType>
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<Profile>
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<ProfileNo>5001</ProfileNo>
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<AddInfo>0</AddInfo>
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<Dictionary>
|
|
<DataTypes>
|
|
<DataType>
|
|
<Name>DT1018</Name>
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|
<BitSize>144</BitSize>
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|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<Name>Max SubIndex</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Vendor ID</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
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|
<BitOffs>16</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>3</SubIdx>
|
|
<Name>Revision Number</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
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|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
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|
<SubIdx>4</SubIdx>
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|
<Name>Serial Number</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>112</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1600</Name>
|
|
<BitSize>48</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>StatusWord</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1601</Name>
|
|
<BitSize>48</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>OpModeDisplay</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>48</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>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>48</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>ActualVelocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1604</Name>
|
|
<BitSize>48</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>ActualTorque</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1605</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>IndexEnable</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Reset</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</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>ECount</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IndexTriggered</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>48</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>ControlWord</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A02</Name>
|
|
<BitSize>48</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>OpMode</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A03</Name>
|
|
<BitSize>48</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>TargetPosition</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A04</Name>
|
|
<BitSize>48</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>TargetVelocity</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00ARR</Name>
|
|
<BaseType>USINT</BaseType>
|
|
<BitSize>32</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>4</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C00</Name>
|
|
<BitSize>48</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>
|
|
<Name>Elements</Name>
|
|
<Type>DT1C00ARR</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12ARR</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<BitSize>96</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>6</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C12</Name>
|
|
<BitSize>112</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>
|
|
<Name>Elements</Name>
|
|
<Type>DT1C12ARR</Type>
|
|
<BitSize>96</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13ARR</Name>
|
|
<BaseType>UINT</BaseType>
|
|
<BitSize>80</BitSize>
|
|
<ArrayInfo>
|
|
<LBound>1</LBound>
|
|
<Elements>5</Elements>
|
|
</ArrayInfo>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1C13</Name>
|
|
<BitSize>96</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>
|
|
<Name>Elements</Name>
|
|
<Type>DT1C13ARR</Type>
|
|
<BitSize>80</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT2000</Name>
|
|
<BitSize>64</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>Period</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Resolution</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT6000</Name>
|
|
<BitSize>56</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>ECount</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>IndexTriggered</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>48</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">rw</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT7000</Name>
|
|
<BitSize>32</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>IndexEnable</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>2</SubIdx>
|
|
<Name>Reset</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
<Flags>
|
|
<Access WriteRestrictions="PreOP">ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UDINT</Name>
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(34)</Name>
|
|
<BitSize>272</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>STRING(1)</Name>
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>USINT</Name>
|
|
<BitSize>8</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>UINT</Name>
|
|
<BitSize>16</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>REAL</Name>
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DINT</Name>
|
|
<BitSize>32</BitSize>
|
|
</DataType>
|
|
</DataTypes>
|
|
<Objects>
|
|
<Object>
|
|
<Index>#x1000</Index>
|
|
<Name>Device Type</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>5001</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>m</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1008</Index>
|
|
<Name>Device Name</Name>
|
|
<Type>STRING(34)</Type>
|
|
<BitSize>272</BitSize>
|
|
<Info>
|
|
<DefaultString>MetalMusings EaserCAT 2000 encoder</DefaultString>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1009</Index>
|
|
<Name>Hardware Version</Name>
|
|
<Type>STRING(1)</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultString>3</DefaultString>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<Category>o</Category>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x100A</Index>
|
|
<Name>Software Version</Name>
|
|
<Type>STRING(1)</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultString>4</DefaultString>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1018</Index>
|
|
<Name>Identity Object</Name>
|
|
<Type>DT1018</Type>
|
|
<BitSize>144</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>4</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Vendor ID</Name>
|
|
<Info>
|
|
<DefaultValue>4321</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Product Code</Name>
|
|
<Info>
|
|
<DefaultValue>1234</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Revision Number</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Serial Number</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1600</Index>
|
|
<Name>StatusWord</Name>
|
|
<Type>DT1600</Type>
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|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>StatusWord</Name>
|
|
<Info>
|
|
<DefaultValue>#x60410010</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1601</Index>
|
|
<Name>OpModeDisplay</Name>
|
|
<Type>DT1601</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpModeDisplay</Name>
|
|
<Info>
|
|
<DefaultValue>#x60610008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1602</Index>
|
|
<Name>ActualPosition</Name>
|
|
<Type>DT1602</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActualPosition</Name>
|
|
<Info>
|
|
<DefaultValue>#x60640020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1603</Index>
|
|
<Name>ActualVelocity</Name>
|
|
<Type>DT1603</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActualVelocity</Name>
|
|
<Info>
|
|
<DefaultValue>#x606C0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1604</Index>
|
|
<Name>ActualTorque</Name>
|
|
<Type>DT1604</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ActualTorque</Name>
|
|
<Info>
|
|
<DefaultValue>#x60770020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1605</Index>
|
|
<Name>EncoderIn</Name>
|
|
<Type>DT1605</Type>
|
|
<BitSize>80</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>IndexEnable</Name>
|
|
<Info>
|
|
<DefaultValue>#x70000108</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Reset</Name>
|
|
<Info>
|
|
<DefaultValue>#x70000208</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>EncoderOut</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>80</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ECount</Name>
|
|
<Info>
|
|
<DefaultValue>#x60000120</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>IndexTriggered</Name>
|
|
<Info>
|
|
<DefaultValue>#x60000208</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>ControlWord</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ControlWord</Name>
|
|
<Info>
|
|
<DefaultValue>#x60400010</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A02</Index>
|
|
<Name>OpMode</Name>
|
|
<Type>DT1A02</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>OpMode</Name>
|
|
<Info>
|
|
<DefaultValue>#x60600008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A03</Index>
|
|
<Name>TargetPosition</Name>
|
|
<Type>DT1A03</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TargetPosition</Name>
|
|
<Info>
|
|
<DefaultValue>#x607A0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A04</Index>
|
|
<Name>TargetVelocity</Name>
|
|
<Type>DT1A04</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TargetVelocity</Name>
|
|
<Info>
|
|
<DefaultValue>#x60FF0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>Sync Manager Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>4</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Communications Type SM0</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Communications Type SM1</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Communications Type SM2</Name>
|
|
<Info>
|
|
<DefaultValue>3</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Communications Type SM3</Name>
|
|
<Info>
|
|
<DefaultValue>4</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>Sync Manager 2 PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>112</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>6</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1600</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1601</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1602</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1603</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1604</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1605</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>Sync Manager 3 PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>96</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>5</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A00</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A01</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A02</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A03</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A04</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>StepperData</Name>
|
|
<Type>DT2000</Type>
|
|
<BitSize>64</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Period</Name>
|
|
<Info>
|
|
<DefaultValue>1000</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Resolution</Name>
|
|
<Info>
|
|
<DefaultValue>2.5</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6000</Index>
|
|
<Name>EncoderOut</Name>
|
|
<Type>DT6000</Type>
|
|
<BitSize>56</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>ECount</Name>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>IndexTriggered</Name>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6040</Index>
|
|
<Name>ControlWord</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6041</Index>
|
|
<Name>StatusWord</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6060</Index>
|
|
<Name>OpMode</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6061</Index>
|
|
<Name>OpModeDisplay</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6064</Index>
|
|
<Name>ActualPosition</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x606C</Index>
|
|
<Name>ActualVelocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6077</Index>
|
|
<Name>ActualTorque</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x607A</Index>
|
|
<Name>TargetPosition</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x60FF</Index>
|
|
<Name>TargetVelocity</Name>
|
|
<Type>DINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7000</Index>
|
|
<Name>EncoderIn</Name>
|
|
<Type>DT7000</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>2</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>IndexEnable</Name>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Reset</Name>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>Outputs</Fmmu>
|
|
<Fmmu>Inputs</Fmmu>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Sm DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
|
|
<Sm DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
|
|
<Sm StartAddress="#x1600" ControlByte="#x24" Enable="1">Outputs</Sm>
|
|
<Sm StartAddress="#x1A00" ControlByte="#x20" Enable="1">Inputs</Sm>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1600</Index>
|
|
<Name>StatusWord</Name>
|
|
<Entry>
|
|
<Index>#x6041</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>StatusWord</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1601</Index>
|
|
<Name>OpModeDisplay</Name>
|
|
<Entry>
|
|
<Index>#x6061</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>OpModeDisplay</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1602</Index>
|
|
<Name>ActualPosition</Name>
|
|
<Entry>
|
|
<Index>#x6064</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1603</Index>
|
|
<Name>ActualVelocity</Name>
|
|
<Entry>
|
|
<Index>#x606C</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualVelocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1604</Index>
|
|
<Name>ActualTorque</Name>
|
|
<Entry>
|
|
<Index>#x6077</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualTorque</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1605</Index>
|
|
<Name>EncoderIn</Name>
|
|
<Entry>
|
|
<Index>#x7000</Index>
|
|
<SubIndex>#x1</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>IndexEnable</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x7000</Index>
|
|
<SubIndex>#x2</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Reset</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A00</Index>
|
|
<Name>EncoderOut</Name>
|
|
<Entry>
|
|
<Index>#x6000</Index>
|
|
<SubIndex>#x1</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ECount</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
<Entry>
|
|
<Index>#x6000</Index>
|
|
<SubIndex>#x2</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>IndexTriggered</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A01</Index>
|
|
<Name>ControlWord</Name>
|
|
<Entry>
|
|
<Index>#x6040</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>ControlWord</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A02</Index>
|
|
<Name>OpMode</Name>
|
|
<Entry>
|
|
<Index>#x6060</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>OpMode</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A03</Index>
|
|
<Name>TargetPosition</Name>
|
|
<Entry>
|
|
<Index>#x607A</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>TargetPosition</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A04</Index>
|
|
<Name>TargetVelocity</Name>
|
|
<Entry>
|
|
<Index>#x60FF</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>TargetVelocity</Name>
|
|
<DataType>DINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<Mailbox DataLinkLayer="true">
|
|
<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
|
|
</Mailbox>
|
|
<Dc>
|
|
<OpMode>
|
|
<Name>SM-Synchron</Name>
|
|
<Desc>SM-Synchron</Desc>
|
|
<AssignActivate>#x000</AssignActivate>
|
|
</OpMode>
|
|
<OpMode>
|
|
<Name>DC</Name>
|
|
<Desc>DC-Synchron</Desc>
|
|
<AssignActivate>#x300</AssignActivate>
|
|
</OpMode>
|
|
</Dc>
|
|
<Eeprom>
|
|
<ByteSize>2048</ByteSize>
|
|
<ConfigData>80060344640000</ConfigData>
|
|
</Eeprom>
|
|
</Device>
|
|
</Devices>
|
|
</Descriptions>
|
|
</EtherCATInfo> |