1634 lines
53 KiB
XML
Executable File
1634 lines
53 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>2730</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>MachineControl</Type>
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<Name LcId="1033">Incremental encoder</Name>
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</Group>
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</Groups>
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<Devices>
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<Device Physics="YY ">
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<Type ProductCode="#xbbbccc" RevisionNo="#x2">EaserCAT2000</Type>
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<Name LcId="1033">MetalMusings EaserCAT 2000</Name>
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<GroupType>MachineControl</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>
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<DataTypes>
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<DataType>
|
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<Name>DT1018</Name>
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|
<BitSize>144</BitSize>
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|
<SubItem>
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|
<SubIdx>0</SubIdx>
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|
<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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</Flags>
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|
</SubItem>
|
|
<SubItem>
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|
<SubIdx>1</SubIdx>
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|
<Name>Vendor ID</Name>
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|
<Type>UDINT</Type>
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|
<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>
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|
<SubItem>
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|
<SubIdx>2</SubIdx>
|
|
<Name>Product Code</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
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|
<BitOffs>48</BitOffs>
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<Flags>
|
|
<Access>ro</Access>
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</Flags>
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</SubItem>
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|
<SubItem>
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<SubIdx>3</SubIdx>
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<Name>Revision Number</Name>
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<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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|
<BitOffs>80</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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|
<SubItem>
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<SubIdx>4</SubIdx>
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|
<Name>Serial Number</Name>
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<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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|
<BitOffs>112</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
|
|
</DataType>
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|
<DataType>
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|
<Name>DT1600</Name>
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|
<BitSize>48</BitSize>
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|
<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</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>1</SubIdx>
|
|
<Name>IndexLatchEnable</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
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|
<DataType>
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|
<Name>DT1601</Name>
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|
<BitSize>48</BitSize>
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|
<SubItem>
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|
<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>CommandedPosition1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</Name>
|
|
<BitSize>48</BitSize>
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|
<SubItem>
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|
<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>CommandedPosition2</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
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|
<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>StepsPerMM1</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>
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<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>StepsPerMM2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
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|
<Name>Max SubIndex</Name>
|
|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
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|
<SubIdx>1</SubIdx>
|
|
<Name>EncPos</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A01</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>EncFrequency</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>
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|
<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>DiffT</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>
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|
<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>IndexByte</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
|
|
</DataType>
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|
<DataType>
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|
<Name>DT1A04</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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|
<Access>ro</Access>
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|
</Flags>
|
|
</SubItem>
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|
<SubItem>
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|
<SubIdx>1</SubIdx>
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|
<Name>IndexStatus</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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|
</DataType>
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|
<DataType>
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<Name>DT1A05</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>ActualPosition1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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</DataType>
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<DataType>
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<Name>DT1A06</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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<BitOffs>0</BitOffs>
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<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>ActualPosition2</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
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|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
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|
</DataType>
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|
<DataType>
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<Name>DT1A07</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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|
<BitOffs>0</BitOffs>
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<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
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|
<SubItem>
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|
<SubIdx>1</SubIdx>
|
|
<Name>D1</Name>
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|
<Type>UDINT</Type>
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|
<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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<DataType>
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<Name>DT1A08</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<SubIdx>0</SubIdx>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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<BitSize>8</BitSize>
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|
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<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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|
<SubItem>
|
|
<SubIdx>1</SubIdx>
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|
<Name>D2</Name>
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|
<Type>UDINT</Type>
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|
<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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|
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|
</DataType>
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|
<DataType>
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<Name>DT1A09</Name>
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<BitSize>48</BitSize>
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<SubItem>
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<Name>Max SubIndex</Name>
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<Type>USINT</Type>
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|
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<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
</SubItem>
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|
<SubItem>
|
|
<SubIdx>1</SubIdx>
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|
<Name>D3</Name>
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|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
<Name>D4</Name>
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|
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|
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|
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|
<Flags>
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|
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|
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|
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|
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|
<DataType>
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|
<Name>DT1C00ARR</Name>
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|
<BaseType>USINT</BaseType>
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|
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|
<ArrayInfo>
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<LBound>1</LBound>
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|
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|
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|
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|
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|
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|
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<Flags>
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|
<Access>ro</Access>
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|
</Flags>
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|
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|
|
<SubItem>
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|
<Name>Elements</Name>
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|
<Type>DT1C00ARR</Type>
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|
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|
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|
<Flags>
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|
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|
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|
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|
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|
<Name>DT1C12ARR</Name>
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|
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|
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|
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|
<LBound>1</LBound>
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|
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|
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|
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|
<DataType>
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|
<Name>DT1C12</Name>
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|
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|
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|
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<Name>Max SubIndex</Name>
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|
<Type>USINT</Type>
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|
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|
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
|
|
<SubItem>
|
|
<Name>Elements</Name>
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|
<Type>DT1C12ARR</Type>
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|
<BitSize>80</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
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|
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|
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|
|
<DataType>
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|
<Name>DT1C13ARR</Name>
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|
<BaseType>UINT</BaseType>
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|
<BitSize>176</BitSize>
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|
<ArrayInfo>
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|
<LBound>1</LBound>
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|
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|
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|
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|
<DataType>
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|
<Name>DT1C13</Name>
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|
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|
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|
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<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
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|
<SubItem>
|
|
<Name>Elements</Name>
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|
<Type>DT1C13ARR</Type>
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|
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|
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<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>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A05</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A06</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A07</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A08</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A09</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A0A</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6000</Index>
|
|
<Name>EncPos</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6001</Index>
|
|
<Name>EncFrequency</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6002</Index>
|
|
<Name>DiffT</Name>
|
|
<Type>UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6003</Index>
|
|
<Name>IndexByte</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6004</Index>
|
|
<Name>IndexStatus</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6005</Index>
|
|
<Name>ActualPosition1</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6006</Index>
|
|
<Name>ActualPosition2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6007</Index>
|
|
<Name>D1</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6008</Index>
|
|
<Name>D2</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6009</Index>
|
|
<Name>D3</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x600A</Index>
|
|
<Name>D4</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7000</Index>
|
|
<Name>IndexLatchEnable</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7001</Index>
|
|
<Name>CommandedPosition1</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7002</Index>
|
|
<Name>CommandedPosition2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7003</Index>
|
|
<Name>StepsPerMM1</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7004</Index>
|
|
<Name>StepsPerMM2</Name>
|
|
<Type>INT</Type>
|
|
<BitSize>16</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
</Objects>
|
|
</Dictionary>
|
|
</Profile>
|
|
<Fmmu>Outputs</Fmmu>
|
|
<Fmmu>Inputs</Fmmu>
|
|
<Fmmu>MBoxState</Fmmu>
|
|
<Sm DefaultSize="512" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
|
|
<Sm DefaultSize="512" StartAddress="#x1200" 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>IndexLatchEnable</Name>
|
|
<Entry>
|
|
<Index>#x7000</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>IndexLatchEnable</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1601</Index>
|
|
<Name>CommandedPosition1</Name>
|
|
<Entry>
|
|
<Index>#x7001</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1602</Index>
|
|
<Name>CommandedPosition2</Name>
|
|
<Entry>
|
|
<Index>#x7002</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1603</Index>
|
|
<Name>StepsPerMM1</Name>
|
|
<Entry>
|
|
<Index>#x7003</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>StepsPerMM1</Name>
|
|
<DataType>INT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1604</Index>
|
|
<Name>StepsPerMM2</Name>
|
|
<Entry>
|
|
<Index>#x7004</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>StepsPerMM2</Name>
|
|
<DataType>INT</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>
|
|
<Name>EncPos</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A01</Index>
|
|
<Name>EncFrequency</Name>
|
|
<Entry>
|
|
<Index>#x6001</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>EncFrequency</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A02</Index>
|
|
<Name>DiffT</Name>
|
|
<Entry>
|
|
<Index>#x6002</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>DiffT</Name>
|
|
<DataType>UINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A03</Index>
|
|
<Name>IndexByte</Name>
|
|
<Entry>
|
|
<Index>#x6003</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>IndexByte</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A04</Index>
|
|
<Name>IndexStatus</Name>
|
|
<Entry>
|
|
<Index>#x6004</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>IndexStatus</Name>
|
|
<DataType>UDINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A05</Index>
|
|
<Name>ActualPosition1</Name>
|
|
<Entry>
|
|
<Index>#x6005</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A06</Index>
|
|
<Name>ActualPosition2</Name>
|
|
<Entry>
|
|
<Index>#x6006</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A07</Index>
|
|
<Name>D1</Name>
|
|
<Entry>
|
|
<Index>#x6007</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>D1</Name>
|
|
<DataType>INT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A08</Index>
|
|
<Name>D2</Name>
|
|
<Entry>
|
|
<Index>#x6008</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>D2</Name>
|
|
<DataType>INT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A09</Index>
|
|
<Name>D3</Name>
|
|
<Entry>
|
|
<Index>#x6009</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>D3</Name>
|
|
<DataType>INT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A0A</Index>
|
|
<Name>D4</Name>
|
|
<Entry>
|
|
<Index>#x600A</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>16</BitLen>
|
|
<Name>D4</Name>
|
|
<DataType>INT</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> |