2306 lines
75 KiB
XML
Executable File
2306 lines
75 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>3502166480</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">CNC control</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="#x3000" RevisionNo="#x2">CNC control</Type>
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<Name LcId="1033">MetalMusings EaserCAT 3000</Name>
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<GroupType>MachineControl</GroupType>
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<Profile>
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<ProfileNo>5002</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>
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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>
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<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>
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<Name>Product Code</Name>
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<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
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<BitOffs>48</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>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>
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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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|
</DataType>
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|
<DataType>
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|
<Name>DT1600</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>
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|
</Flags>
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|
</SubItem>
|
|
<SubItem>
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|
<SubIdx>1</SubIdx>
|
|
<Name>Scale</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>
|
|
<Access>ro</Access>
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|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<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>Output4</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1602</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>
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|
<SubIdx>1</SubIdx>
|
|
<Name>CommandedPosition1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1603</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>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>CommandedPosition2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1604</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>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<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>CommandedPosition3</Name>
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|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
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|
<Flags>
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|
<Access>ro</Access>
|
|
</Flags>
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|
</SubItem>
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|
</DataType>
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|
<DataType>
|
|
<Name>DT1605</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>
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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>1</SubIdx>
|
|
<Name>CommandedPosition4</Name>
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|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1606</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>
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|
<BitOffs>0</BitOffs>
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|
<Flags>
|
|
<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>DT1607</Name>
|
|
<BitSize>48</BitSize>
|
|
<SubItem>
|
|
<SubIdx>0</SubIdx>
|
|
<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>StepsPerMM2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1608</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>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>StepsPerMM3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1609</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>StepsPerMM4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
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|
<Name>DT160A</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>MaxAcceleration1</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT160B</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>MaxAcceleration2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT160C</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>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>MaxAcceleration3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT160D</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>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>MaxAcceleration4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT160E</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>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Enable1</Name>
|
|
<Type>UDINT</Type>
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|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT160F</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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|
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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Enable2</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1610</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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|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Enable3</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1611</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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|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Enable4</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name>DT1A00</Name>
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|
<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>
|
|
<BitOffs>0</BitOffs>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Velocity</Name>
|
|
<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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|
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|
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|
|
<Flags>
|
|
<Access>ro</Access>
|
|
</Flags>
|
|
</SubItem>
|
|
<SubItem>
|
|
<SubIdx>1</SubIdx>
|
|
<Name>Frequency</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
<Flags>
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<Name>MaxAcceleration2</Name>
|
|
<Type>DT160B</Type>
|
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|
<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
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|
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<SubItem>
|
|
<Name>MaxAcceleration2</Name>
|
|
<Info>
|
|
<DefaultValue>#x700B0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
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<Flags>
|
|
</Flags>
|
|
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|
|
<Object>
|
|
<Index>#x160C</Index>
|
|
<Name>MaxAcceleration3</Name>
|
|
<Type>DT160C</Type>
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<BitSize>48</BitSize>
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|
<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
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|
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|
|
<Name>MaxAcceleration3</Name>
|
|
<Info>
|
|
<DefaultValue>#x700C0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x160D</Index>
|
|
<Name>MaxAcceleration4</Name>
|
|
<Type>DT160D</Type>
|
|
<BitSize>48</BitSize>
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<Info>
|
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<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
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|
|
<Name>MaxAcceleration4</Name>
|
|
<Info>
|
|
<DefaultValue>#x700D0020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
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<Flags>
|
|
</Flags>
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|
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|
|
<Object>
|
|
<Index>#x160E</Index>
|
|
<Name>Enable1</Name>
|
|
<Type>DT160E</Type>
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<BitSize>48</BitSize>
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<Info>
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|
<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
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<SubItem>
|
|
<Name>Enable1</Name>
|
|
<Info>
|
|
<DefaultValue>#x700E0008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
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<Flags>
|
|
</Flags>
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|
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|
|
<Object>
|
|
<Index>#x160F</Index>
|
|
<Name>Enable2</Name>
|
|
<Type>DT160F</Type>
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<BitSize>48</BitSize>
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<Info>
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<SubItem>
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|
<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
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<SubItem>
|
|
<Name>Enable2</Name>
|
|
<Info>
|
|
<DefaultValue>#x700F0008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1610</Index>
|
|
<Name>Enable3</Name>
|
|
<Type>DT1610</Type>
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|
<BitSize>48</BitSize>
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<Info>
|
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<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
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<SubItem>
|
|
<Name>Enable3</Name>
|
|
<Info>
|
|
<DefaultValue>#x70100008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1611</Index>
|
|
<Name>Enable4</Name>
|
|
<Type>DT1611</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
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|
|
<SubItem>
|
|
<Name>Enable4</Name>
|
|
<Info>
|
|
<DefaultValue>#x70110008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A00</Index>
|
|
<Name>Velocity</Name>
|
|
<Type>DT1A00</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Velocity</Name>
|
|
<Info>
|
|
<DefaultValue>#x60000020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A01</Index>
|
|
<Name>Frequency</Name>
|
|
<Type>DT1A01</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Frequency</Name>
|
|
<Info>
|
|
<DefaultValue>#x60010020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A02</Index>
|
|
<Name>Input8</Name>
|
|
<Type>DT1A02</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Input8</Name>
|
|
<Info>
|
|
<DefaultValue>#x60020008</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A03</Index>
|
|
<Name>ActualPosition1</Name>
|
|
<Type>DT1A03</Type>
|
|
<BitSize>48</BitSize>
|
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<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
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<SubItem>
|
|
<Name>ActualPosition1</Name>
|
|
<Info>
|
|
<DefaultValue>#x60030020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A04</Index>
|
|
<Name>ActualPosition2</Name>
|
|
<Type>DT1A04</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
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</SubItem>
|
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<SubItem>
|
|
<Name>ActualPosition2</Name>
|
|
<Info>
|
|
<DefaultValue>#x60040020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A05</Index>
|
|
<Name>ActualPosition3</Name>
|
|
<Type>DT1A05</Type>
|
|
<BitSize>48</BitSize>
|
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<Info>
|
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<SubItem>
|
|
<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
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</SubItem>
|
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<SubItem>
|
|
<Name>ActualPosition3</Name>
|
|
<Info>
|
|
<DefaultValue>#x60050020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1A06</Index>
|
|
<Name>ActualPosition4</Name>
|
|
<Type>DT1A06</Type>
|
|
<BitSize>48</BitSize>
|
|
<Info>
|
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<SubItem>
|
|
<Name>Max SubIndex</Name>
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|
<Info>
|
|
<DefaultValue>1</DefaultValue>
|
|
</Info>
|
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<SubItem>
|
|
<Name>ActualPosition4</Name>
|
|
<Info>
|
|
<DefaultValue>#x60060020</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C00</Index>
|
|
<Name>Sync Manager Communication Type</Name>
|
|
<Type>DT1C00</Type>
|
|
<BitSize>48</BitSize>
|
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<Info>
|
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<SubItem>
|
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<Name>Max SubIndex</Name>
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<Info>
|
|
<DefaultValue>4</DefaultValue>
|
|
</Info>
|
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</SubItem>
|
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<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>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C12</Index>
|
|
<Name>Sync Manager 2 PDO Assignment</Name>
|
|
<Type>DT1C12</Type>
|
|
<BitSize>304</BitSize>
|
|
<Info>
|
|
<SubItem>
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|
<Name>Max SubIndex</Name>
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|
<Info>
|
|
<DefaultValue>18</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
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<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>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1606</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1607</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1608</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1609</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160A</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160B</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160C</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160D</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160E</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x160F</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1610</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1611</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x1C13</Index>
|
|
<Name>Sync Manager 3 PDO Assignment</Name>
|
|
<Type>DT1C13</Type>
|
|
<BitSize>128</BitSize>
|
|
<Info>
|
|
<SubItem>
|
|
<Name>Max SubIndex</Name>
|
|
<Info>
|
|
<DefaultValue>7</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>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A05</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PDO Mapping</Name>
|
|
<Info>
|
|
<DefaultValue>#x1A06</DefaultValue>
|
|
</Info>
|
|
</SubItem>
|
|
</Info>
|
|
<Flags>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x2000</Index>
|
|
<Name>BasePeriod</Name>
|
|
<Type>UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>20000</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>rw</Access>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6000</Index>
|
|
<Name>Velocity</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>Frequency</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>Input8</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>T</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x6003</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>#x6004</Index>
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<Name>ActualPosition2</Name>
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<Type>REAL</Type>
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<BitSize>32</BitSize>
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<Info>
|
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<DefaultValue>0</DefaultValue>
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</Info>
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<Access>ro</Access>
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<PdoMapping>T</PdoMapping>
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</Flags>
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</Object>
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<Object>
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<Index>#x6005</Index>
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<Name>ActualPosition3</Name>
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<Type>REAL</Type>
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|
<BitSize>32</BitSize>
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<Info>
|
|
<DefaultValue>0</DefaultValue>
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|
</Info>
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<Flags>
|
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<Access>ro</Access>
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<PdoMapping>T</PdoMapping>
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</Flags>
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</Object>
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<Object>
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|
<Index>#x6006</Index>
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|
<Name>ActualPosition4</Name>
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|
<Type>REAL</Type>
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|
<BitSize>32</BitSize>
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<Info>
|
|
<DefaultValue>0</DefaultValue>
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|
</Info>
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<Flags>
|
|
<Access>ro</Access>
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<PdoMapping>T</PdoMapping>
|
|
</Flags>
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</Object>
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<Object>
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|
<Index>#x7000</Index>
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|
<Name>Scale</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
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|
</Object>
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<Object>
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|
<Index>#x7001</Index>
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|
<Name>Output4</Name>
|
|
<Type>USINT</Type>
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|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
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|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
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<Object>
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|
<Index>#x7002</Index>
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|
<Name>CommandedPosition1</Name>
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|
<Type>REAL</Type>
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|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
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<Object>
|
|
<Index>#x7003</Index>
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|
<Name>CommandedPosition2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
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|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
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|
<Object>
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|
<Index>#x7004</Index>
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|
<Name>CommandedPosition3</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7005</Index>
|
|
<Name>CommandedPosition4</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7006</Index>
|
|
<Name>StepsPerMM1</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7007</Index>
|
|
<Name>StepsPerMM2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7008</Index>
|
|
<Name>StepsPerMM3</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7009</Index>
|
|
<Name>StepsPerMM4</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700A</Index>
|
|
<Name>MaxAcceleration1</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700B</Index>
|
|
<Name>MaxAcceleration2</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700C</Index>
|
|
<Name>MaxAcceleration3</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700D</Index>
|
|
<Name>MaxAcceleration4</Name>
|
|
<Type>REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700E</Index>
|
|
<Name>Enable1</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x700F</Index>
|
|
<Name>Enable2</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7010</Index>
|
|
<Name>Enable3</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<Info>
|
|
<DefaultValue>0</DefaultValue>
|
|
</Info>
|
|
<Flags>
|
|
<Access>ro</Access>
|
|
<PdoMapping>R</PdoMapping>
|
|
</Flags>
|
|
</Object>
|
|
<Object>
|
|
<Index>#x7011</Index>
|
|
<Name>Enable4</Name>
|
|
<Type>USINT</Type>
|
|
<BitSize>8</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>Scale</Name>
|
|
<Entry>
|
|
<Index>#x7000</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Scale</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1601</Index>
|
|
<Name>Output4</Name>
|
|
<Entry>
|
|
<Index>#x7001</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Output4</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1602</Index>
|
|
<Name>CommandedPosition1</Name>
|
|
<Entry>
|
|
<Index>#x7002</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1603</Index>
|
|
<Name>CommandedPosition2</Name>
|
|
<Entry>
|
|
<Index>#x7003</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1604</Index>
|
|
<Name>CommandedPosition3</Name>
|
|
<Entry>
|
|
<Index>#x7004</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition3</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1605</Index>
|
|
<Name>CommandedPosition4</Name>
|
|
<Entry>
|
|
<Index>#x7005</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>CommandedPosition4</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1606</Index>
|
|
<Name>StepsPerMM1</Name>
|
|
<Entry>
|
|
<Index>#x7006</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>StepsPerMM1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1607</Index>
|
|
<Name>StepsPerMM2</Name>
|
|
<Entry>
|
|
<Index>#x7007</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>StepsPerMM2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1608</Index>
|
|
<Name>StepsPerMM3</Name>
|
|
<Entry>
|
|
<Index>#x7008</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>StepsPerMM3</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1609</Index>
|
|
<Name>StepsPerMM4</Name>
|
|
<Entry>
|
|
<Index>#x7009</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>StepsPerMM4</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160A</Index>
|
|
<Name>MaxAcceleration1</Name>
|
|
<Entry>
|
|
<Index>#x700A</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>MaxAcceleration1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160B</Index>
|
|
<Name>MaxAcceleration2</Name>
|
|
<Entry>
|
|
<Index>#x700B</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>MaxAcceleration2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160C</Index>
|
|
<Name>MaxAcceleration3</Name>
|
|
<Entry>
|
|
<Index>#x700C</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>MaxAcceleration3</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160D</Index>
|
|
<Name>MaxAcceleration4</Name>
|
|
<Entry>
|
|
<Index>#x700D</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>MaxAcceleration4</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160E</Index>
|
|
<Name>Enable1</Name>
|
|
<Entry>
|
|
<Index>#x700E</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Enable1</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x160F</Index>
|
|
<Name>Enable2</Name>
|
|
<Entry>
|
|
<Index>#x700F</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Enable2</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1610</Index>
|
|
<Name>Enable3</Name>
|
|
<Entry>
|
|
<Index>#x7010</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Enable3</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<RxPdo Fixed="true" Mandatory="true" Sm="2">
|
|
<Index>#x1611</Index>
|
|
<Name>Enable4</Name>
|
|
<Entry>
|
|
<Index>#x7011</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Enable4</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</RxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A00</Index>
|
|
<Name>Velocity</Name>
|
|
<Entry>
|
|
<Index>#x6000</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Velocity</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A01</Index>
|
|
<Name>Frequency</Name>
|
|
<Entry>
|
|
<Index>#x6001</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>Frequency</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A02</Index>
|
|
<Name>Input8</Name>
|
|
<Entry>
|
|
<Index>#x6002</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>8</BitLen>
|
|
<Name>Input8</Name>
|
|
<DataType>USINT</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A03</Index>
|
|
<Name>ActualPosition1</Name>
|
|
<Entry>
|
|
<Index>#x6003</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition1</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A04</Index>
|
|
<Name>ActualPosition2</Name>
|
|
<Entry>
|
|
<Index>#x6004</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition2</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A05</Index>
|
|
<Name>ActualPosition3</Name>
|
|
<Entry>
|
|
<Index>#x6005</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition3</Name>
|
|
<DataType>REAL</DataType>
|
|
</Entry>
|
|
</TxPdo>
|
|
<TxPdo Fixed="true" Mandatory="true" Sm="3">
|
|
<Index>#x1A06</Index>
|
|
<Name>ActualPosition4</Name>
|
|
<Entry>
|
|
<Index>#x6006</Index>
|
|
<SubIndex>#x0</SubIndex>
|
|
<BitLen>32</BitLen>
|
|
<Name>ActualPosition4</Name>
|
|
<DataType>REAL</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>050603446400000000001A000000</ConfigData>
|
|
</Eeprom>
|
|
</Device>
|
|
</Devices>
|
|
</Descriptions>
|
|
</EtherCATInfo> |