5561 lines
158 KiB
XML
5561 lines
158 KiB
XML
|
<?xml version="1.0"?>
|
||
|
|
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
|
||
|
|
<Vendor>
|
||
|
|
<Id>#x1097</Id>
|
||
|
|
<Name>Jiangsu Yiyou Robot Technology Co., Ltd.</Name>
|
||
|
|
<ImageData16x14>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</ImageData16x14>
|
||
|
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</Vendor>
|
||
|
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<Descriptions>
|
||
|
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<Groups>
|
||
|
|
<Group>
|
||
|
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<Type>ServoDrive</Type>
|
||
|
|
<Name LcId="1033">Servo Drives</Name>
|
||
|
|
<ImageData16x14>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</ImageData16x14>
|
||
|
|
</Group>
|
||
|
|
</Groups>
|
||
|
|
<Devices>
|
||
|
|
<Device Physics="YY">
|
||
|
|
<Type ProductCode="#x2406" RevisionNo="145">EYOU_ServoModule_V145</Type>
|
||
|
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<Name LcId="1033">EYOU_ServoModule_ECAT_V145</Name>
|
||
|
|
<Info>
|
||
|
|
<StateMachine>
|
||
|
|
<Timeout>
|
||
|
|
<PreopTimeout>2000</PreopTimeout>
|
||
|
|
<SafeopOpTimeout>9000</SafeopOpTimeout>
|
||
|
|
<BackToInitTimeout>5000</BackToInitTimeout>
|
||
|
|
<BackToSafeopTimeout>200</BackToSafeopTimeout>
|
||
|
|
</Timeout>
|
||
|
|
</StateMachine>
|
||
|
|
<Mailbox>
|
||
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|
<Timeout>
|
||
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|
<RequestTimeout>100</RequestTimeout>
|
||
|
|
<ResponseTimeout>2000</ResponseTimeout>
|
||
|
|
</Timeout>
|
||
|
|
</Mailbox>
|
||
|
|
</Info>
|
||
|
|
<GroupType>ServoDrive</GroupType>
|
||
|
|
<Profile>
|
||
|
|
<ChannelInfo>
|
||
|
|
<ProfileNo>402</ProfileNo>
|
||
|
|
</ChannelInfo>
|
||
|
|
<Dictionary>
|
||
|
|
<DataTypes>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>BIT2</Name>
|
||
|
|
<BitSize>2</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>BOOL</Name>
|
||
|
|
<BitSize>1</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>DINT</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>INT</Name>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>SINT</Name>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>UDINT</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>UINT</Name>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>USINT</Name>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!---->
|
||
|
|
<Name>REAL</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Std type (see ETG.1020)-->
|
||
|
|
<Name>ARRAY [0..3] OF BYTE</Name>
|
||
|
|
<BaseType>USINT</BaseType>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>0</LBound>
|
||
|
|
<Elements>4</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Device Name (0x1008) type-->
|
||
|
|
<Name>STRING(12)</Name>
|
||
|
|
<BitSize>96</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Hardware version string (0x1009)-->
|
||
|
|
<Name>STRING(10)</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Store parameters object (0x1010) type-->
|
||
|
|
<Name>DT1010</Name>
|
||
|
|
<BitSize>112</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Store All Parameters</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Store Communication Parameters</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Store Application Parametesr</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Restore Default parameters object (0x1011) type-->
|
||
|
|
<Name>DT1011</Name>
|
||
|
|
<BitSize>112</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Restore All Parameters</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Restore Communication Parameters</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Restore Application Parametesr</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Ident object (0x1018) type-->
|
||
|
|
<Name>DT1018</Name>
|
||
|
|
<BitSize>144</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Vendor ID</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Product code</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Revision</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Serial number</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</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>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DT1C00ARR</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Error Setting object (0x10F1) type-->
|
||
|
|
<Name>DT10F1</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Local Error Reaction</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Sync Error Counter Limit</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Datatype for SM2(Output) Synchronisation Parameter-->
|
||
|
|
<Name>DT1C32</Name>
|
||
|
|
<BitSize>488</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>m</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Synchronization Type</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Synchronization Types supported</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>96</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>Minimum Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>Calc and Copy Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>Get Cycle Time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>Delay Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>224</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>Sync0 Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>256</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>11</SubIdx>
|
||
|
|
<Name>SM-Event Missed</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>288</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>12</SubIdx>
|
||
|
|
<Name>Cycle Time Too Small</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>32</SubIdx>
|
||
|
|
<Name>Sync Error</Name>
|
||
|
|
<Type>BOOL</Type>
|
||
|
|
<BitSize>1</BitSize>
|
||
|
|
<BitOffs>480</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<!--Datatype for SM3(Input) Synchronisation Parameter-->
|
||
|
|
<Name>DT1C33</Name>
|
||
|
|
<BitSize>488</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>m</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Synchronization Type</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Synchronization Types supported</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>96</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>Minimum Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>Calc and Copy Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>Get Cycle Time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>Delay Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>224</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>Sync0 Cycle Time</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>256</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>11</SubIdx>
|
||
|
|
<Name>SM-Event Missed</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>288</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>12</SubIdx>
|
||
|
|
<Name>Cycle Time Too Small</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>32</SubIdx>
|
||
|
|
<Name>Sync Error</Name>
|
||
|
|
<Type>BOOL</Type>
|
||
|
|
<BitSize>1</BitSize>
|
||
|
|
<BitOffs>480</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>c</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1600</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOP">rw</Access>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1601</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1602</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Output Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1A00</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOP">rw</Access>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1A01</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1A02</Name>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>2nd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>3rd Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>4th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>5</SubIdx>
|
||
|
|
<Name>5th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>144</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>6</SubIdx>
|
||
|
|
<Name>6th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>176</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>7</SubIdx>
|
||
|
|
<Name>7th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>208</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>8</SubIdx>
|
||
|
|
<Name>8th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>240</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>9</SubIdx>
|
||
|
|
<Name>9th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>272</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>10</SubIdx>
|
||
|
|
<Name>10th Input Object to be mapped</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>304</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1C12ARR</Name>
|
||
|
|
<BaseType>UINT</BaseType>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>1</LBound>
|
||
|
|
<Elements>2</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1C12</Name>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DT1C12ARR</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1C13ARR</Name>
|
||
|
|
<BaseType>UINT</BaseType>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>1</LBound>
|
||
|
|
<Elements>2</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT1C13</Name>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DT1C13ARR</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access WriteRestrictions="PreOp">rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2001</Name>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Eu Node Id</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Eu Can BitRate</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2010</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Current Loop Kp Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Current Loop Ki Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Current Loop Kp</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Current Loop Ki</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>64</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2012</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Velocity Loop Kp Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Velocity Loop Ki Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Velocity Loop Kp</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Velocity Loop Ki</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>64</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2013</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Position Loop Kp Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Position Loop Ki Default</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>Position Loop Kp</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>Position Loop Ki</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>64</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2014</Name>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>EuBrakeControl</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuBrakeState</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>EuBrakeAutoState</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2016</Name>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Servo Temperture</Name>
|
||
|
|
<Type>SINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuHighTemperatureLimit</Name>
|
||
|
|
<Type>SINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>EuHighTemperatureWindowsTime</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2020</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>EuMotorBlockTorque</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuMotorBlockTime</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>EuMotorBlockVelocity</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT2021</Name>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>EuVolecityFollowingErrorWindows</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuVolecityFollowingErrorTime</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT202D</Name>
|
||
|
|
<BitSize>144</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>EuUnderVoltageThreshold</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuUnderVoltageTime</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>EuOverVoltageThreshold</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>80</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>EuOverVoltageTime</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>112</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT202E</Name>
|
||
|
|
<BitSize>128</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>EuVelocityFeedforwardControlSelect</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>EuVelocityFeedforwardFilterTimeConst</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>EuVelocityFeedforwardGain</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>EuVelocityFeedforwardOriginalValue</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>64</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>4</SubIdx>
|
||
|
|
<Name>EuVelocityFeedforwardFilteredValue</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>96</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT210F</Name>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>FocCurBiasA</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>FocCurBiasB</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>3</SubIdx>
|
||
|
|
<Name>FocCurBiasC</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT607D</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Min position limit</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Max position limit</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT6091</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Motor revolutions</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Shaft revolutions</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>48</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT60C1</Name>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Interpolation data record</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT60C2</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Interpolation period</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Interpolation Index</Name>
|
||
|
|
<Type>SINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>24</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT60FF</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>Target Velocity</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DT6502</Name>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>Supported Drive Modes</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF000</Name>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>1</SubIdx>
|
||
|
|
<Name>Module index distance</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>2</SubIdx>
|
||
|
|
<Name>Maximum number of modules</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<BitOffs>32</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF010ARR</Name>
|
||
|
|
<BaseType>UDINT</BaseType>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>1</LBound>
|
||
|
|
<Elements>2</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF010</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DTF010ARR</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<!--Module Profile Information-->
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF030ARR</Name>
|
||
|
|
<BaseType>UDINT</BaseType>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>1</LBound>
|
||
|
|
<Elements>2</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF030</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DTF030ARR</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<!--Module Profile Information-->
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF050ARR</Name>
|
||
|
|
<BaseType>UDINT</BaseType>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<ArrayInfo>
|
||
|
|
<LBound>1</LBound>
|
||
|
|
<Elements>2</Elements>
|
||
|
|
</ArrayInfo>
|
||
|
|
</DataType>
|
||
|
|
<DataType>
|
||
|
|
<Name>DTF050</Name>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<SubItem>
|
||
|
|
<SubIdx>0</SubIdx>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<BitOffs>0</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Elements</Name>
|
||
|
|
<Type>DTF050ARR</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<BitOffs>16</BitOffs>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</SubItem>
|
||
|
|
<!--Module Ident list of the detected modules-->
|
||
|
|
</DataType>
|
||
|
|
</DataTypes>
|
||
|
|
<Objects>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1000</Index>
|
||
|
|
<Name>Device type</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>92010200</DefaultData>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>m</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1001</Index>
|
||
|
|
<Name>Error register</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1008</Index>
|
||
|
|
<Name>Device name</Name>
|
||
|
|
<Type>STRING(12)</Type>
|
||
|
|
<BitSize>96</BitSize>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>4575504878782d787878</DefaultData>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1009</Index>
|
||
|
|
<Name>Hardware version</Name>
|
||
|
|
<Type>STRING(10)</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>56332e3046343035</DefaultData>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x100a</Index>
|
||
|
|
<Name>Software version</Name>
|
||
|
|
<Type>STRING(10)</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>56313433</DefaultData>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1c00</Index>
|
||
|
|
<Name>Sync manager type</Name>
|
||
|
|
<Type>DT1C00</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 003</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 004</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1010</Index>
|
||
|
|
<Name>Store Parameters</Name>
|
||
|
|
<Type>DT1010</Type>
|
||
|
|
<BitSize>112</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store All Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store Communication Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store Application Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1011</Index>
|
||
|
|
<Name>Restore Default Parameters</Name>
|
||
|
|
<Type>DT1011</Type>
|
||
|
|
<BitSize>112</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store All Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store Communication Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Store Application Parameters</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1018</Index>
|
||
|
|
<Name>Identity</Name>
|
||
|
|
<Type>DT1018</Type>
|
||
|
|
<BitSize>144</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Vendor ID</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>9710</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Product code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0624</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Revision</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0002</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Serial number</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x10F1</Index>
|
||
|
|
<Name>Error Settings</Name>
|
||
|
|
<Type>DT10F1</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Local Error Reaction</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Sync Error Counter Limit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1c32</Index>
|
||
|
|
<Name>SM output parameter</Name>
|
||
|
|
<Type>DT1C32</Type>
|
||
|
|
<BitSize>488</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>20</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Synchronization Type</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0100</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Synchronization Types supported</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>1E40</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Minimum Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>50C30000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Calc and Copy Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Get Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Delay Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Sync0 Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SM-Event Missed</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Cycle Time Too Small</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Sync Error</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1c33</Index>
|
||
|
|
<Name>SM input parameter</Name>
|
||
|
|
<Type>DT1C33</Type>
|
||
|
|
<BitSize>488</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>20</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Synchronization Type</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>2200</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Synchronization Types supported</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>1E40</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Minimum Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>50C30000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Calc and Copy Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Get Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Delay Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Sync0 Cycle Time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SM-Event Missed</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Cycle Time Too Small</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Sync Error</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1c12</Index>
|
||
|
|
<Name>RxPDO assign</Name>
|
||
|
|
<Type>DT1C12</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0016</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1c13</Index>
|
||
|
|
<Name>TxPDO assign</Name>
|
||
|
|
<Type>DT1C13</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>001a</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1600</Index>
|
||
|
|
<Name>csp/csv/cst RxPDO</Name>
|
||
|
|
<Type>DT1600</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<MinValue>00</MinValue>
|
||
|
|
<MaxValue>10</MaxValue>
|
||
|
|
<DefaultValue>#x06</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60400010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x607A0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60FF0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60710010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60600008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>6st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>7st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>8st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>9st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>10st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1601</Index>
|
||
|
|
<Name>pp/pv/pt RxPDO</Name>
|
||
|
|
<Type>DT1601</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x0A</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60400010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x607A0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60FF0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60710010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60830020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>6st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60840020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>7st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60810020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>8st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60870010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>9st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60600008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>10st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1602</Index>
|
||
|
|
<Name>pv RxPDO</Name>
|
||
|
|
<Type>DT1602</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x06</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60400010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60FF0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60830020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60840020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60600008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>6st Output Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1a00</Index>
|
||
|
|
<Name>csp/csv/cst TxPDO</Name>
|
||
|
|
<Type>DT1A00</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<MinValue>00</MinValue>
|
||
|
|
<MaxValue>10</MaxValue>
|
||
|
|
<DefaultValue>#x07</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60410010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60640020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x606C0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60770010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60610008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>6st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x603F0010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>7st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>8st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>9st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>10st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1a01</Index>
|
||
|
|
<Name>pp/pv/pt TxPDO</Name>
|
||
|
|
<Type>DT1A01</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x07</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60410010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60640020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x606C0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60770020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60610008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>6st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x603F0010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>7st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x1a02</Index>
|
||
|
|
<Name>pv TxPDO</Name>
|
||
|
|
<Type>DT1A02</Type>
|
||
|
|
<BitSize>336</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x05</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>1st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60410010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>2st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x606C0020</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>3st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x60610008</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>4st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x603F0010</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>5st Input Object to be mapped</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>#x00000000</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2000</Index>
|
||
|
|
<Name>Eu Motor SN</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Eu Motor SN</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2001</Index>
|
||
|
|
<Name>Servo Config</Name>
|
||
|
|
<Type>DT2001</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Eu Node Id</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Eu Can BitRate</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>1000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2002</Index>
|
||
|
|
<Name>Motor Para</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Motor Para</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2003</Index>
|
||
|
|
<Name>Soft Limit State</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Soft Limit State</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2004</Index>
|
||
|
|
<Name>EuCommMode</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuCommMode</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2010</Index>
|
||
|
|
<Name>Current Loop Pi</Name>
|
||
|
|
<Type>DT2010</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Current Loop Kp Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0040</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Current Loop Ki Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0001</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Current Loop Kp</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0004</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Current Loop Ki</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0001</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2012</Index>
|
||
|
|
<Name>Velocity Loop Pi</Name>
|
||
|
|
<Type>DT2012</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Loop Kp Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Loop Ki Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Loop Kp</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Loop Ki</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2013</Index>
|
||
|
|
<Name>Position Loop Pi</Name>
|
||
|
|
<Type>DT2013</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Loop Kp Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Loop Ki Default</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Loop Kp</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Loop Ki</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2014</Index>
|
||
|
|
<Name>brake control</Name>
|
||
|
|
<Type>DT2014</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuBrakeControl</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuBrakeState</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuBrakeAutoState</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2015</Index>
|
||
|
|
<Name>Eu Pwm Inv</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Eu Pwm Inv</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2016</Index>
|
||
|
|
<Name>Servo Temperture</Name>
|
||
|
|
<Type>DT2016</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuTemperature</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>19</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuHighTemperatureLimit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>55</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuHighTemperatureWindowsTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>B80B</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2017</Index>
|
||
|
|
<Name>EuVelocityIntLimit</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityIntLimit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2020</Index>
|
||
|
|
<Name>Motor Block</Name>
|
||
|
|
<Type>DT2020</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuMotorBlockTorque</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>E803</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuMotorBlockTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>B80B</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuMotorBlockVelocity</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>1027</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2021</Index>
|
||
|
|
<Name>velocity floowing error</Name>
|
||
|
|
<Type>DT2021</Type>
|
||
|
|
<BitSize>64</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVolecityFollowingErrorWindows</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>A08601</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVolecityFollowingErrorTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0BB8</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2022</Index>
|
||
|
|
<Name>torque window</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>torque window</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0A</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2023</Index>
|
||
|
|
<Name>Torque window time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Torque window time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2024</Index>
|
||
|
|
<Name>EuOverSpeedThreshold</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuOverSpeedThreshold</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>AAAA42</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2025</Index>
|
||
|
|
<Name>EuOverSpeedTime</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuOverSpeedTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2026</Index>
|
||
|
|
<Name>EuBrakeDelayTime</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuBrakeDelayTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2027</Index>
|
||
|
|
<Name>EuAutoMagnetAngleAlignmentFlag</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuAutoMagnetAngleAlignmentFlag</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2028</Index>
|
||
|
|
<Name>EuI2tLimit</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuI2tLimit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2029</Index>
|
||
|
|
<Name>EuI2tValue</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuI2tValue</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x202A</Index>
|
||
|
|
<Name>EuFirstEncoderValue</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuFirstEncoderValue</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x202B</Index>
|
||
|
|
<Name>EuSecondEncoderValue</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuSecondEncoderValue</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x202C</Index>
|
||
|
|
<Name>EuThetaBias</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuThetaBias</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x202D</Index>
|
||
|
|
<Name>Eu Voltage Threshold</Name>
|
||
|
|
<Type>DT202D</Type>
|
||
|
|
<BitSize>144</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>04</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuUnderVoltageThreshold</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>283707</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuUnderVoltageTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>05</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuOverVoltageThreshold</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>A00901</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuOverVoltageTime</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>05</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x202E</Index>
|
||
|
|
<Name>Eu Velocity Feedforward</Name>
|
||
|
|
<Type>DT202E</Type>
|
||
|
|
<BitSize>128</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>05</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityFeedforwardControlSelect</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityFeedforwardFilterTimeConst</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityFeedforwardGain</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityFeedforwardOriginalValue</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuVelocityFeedforwardFilteredValue</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2100</Index>
|
||
|
|
<Name>EuDisableFpgaMu150Spi</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuDisableFpgaMu150Spi</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2104</Index>
|
||
|
|
<Name>ServoMagnetAngleAlignment</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>ServoMagnetAngleAlignment</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2109</Index>
|
||
|
|
<Name>EuGoToBoot</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuGoToBoot</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210A</Index>
|
||
|
|
<Name>EuCompStart</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuCompStart</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210B</Index>
|
||
|
|
<Name>EuCompEn</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuCompEn</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210C</Index>
|
||
|
|
<Name>EuCompBias</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuCompBias</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210D</Index>
|
||
|
|
<Name>EuCompState</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuCompState</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210E</Index>
|
||
|
|
<Name>EuFocCurBiasSet</Name>
|
||
|
|
<Type>USINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuFocCurBiasSet</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x210F</Index>
|
||
|
|
<Name>Foc Cur Bias</Name>
|
||
|
|
<Type>DT210F</Type>
|
||
|
|
<BitSize>144</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>03</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>FocCurBiasA</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>FocCurBiasB</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>FocCurBiasC</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2110</Index>
|
||
|
|
<Name>EuTorqueFactor</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuTorqueFactor</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>E803</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2201</Index>
|
||
|
|
<Name>EuSysOutPulseStep</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>EuSysOutPulseStep</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2301</Index>
|
||
|
|
<Name>Position Velocity Mix Position Kp</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Velocity Mix Position Kp</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x2302</Index>
|
||
|
|
<Name>Position Velocity Mix Velocity Kd</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Velocity Mix Velocity Kd</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x603F</Index>
|
||
|
|
<Name>Error Code</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Error Code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6040</Index>
|
||
|
|
<Name>Control Word</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Control Word</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6041</Index>
|
||
|
|
<Name>Status Word</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Status Word</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x605A</Index>
|
||
|
|
<Name>Quickstop Option Code</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Quickstop Option Code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x605B</Index>
|
||
|
|
<Name>Shutdown Option Code</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Shutdown Option Code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x605C</Index>
|
||
|
|
<Name>Disable Operation Option Code</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Disable Operation Option Code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x605D</Index>
|
||
|
|
<Name>Halt option code</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Halt option code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x605E</Index>
|
||
|
|
<Name>Fault Reaction Code</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Fault Reaction Code</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6060</Index>
|
||
|
|
<Name>Modes of Operation</Name>
|
||
|
|
<Type>SINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Modes of Operation</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6061</Index>
|
||
|
|
<Name>Modes of Operation Display</Name>
|
||
|
|
<Type>SINT</Type>
|
||
|
|
<BitSize>8</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Modes of Operation Display</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6062</Index>
|
||
|
|
<Name>Position demannd value</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position demannd value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6064</Index>
|
||
|
|
<Name>Position Actual Value</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position Actual Value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6065</Index>
|
||
|
|
<Name>Maximal following error</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Maximal following error</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>E09304</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6067</Index>
|
||
|
|
<Name>Position window</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position window</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>64</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6068</Index>
|
||
|
|
<Name>Position window time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Position window time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x606B</Index>
|
||
|
|
<Name>Velocity demand value</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity demand value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x606C</Index>
|
||
|
|
<Name>Velocity Actual Value</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Actual Value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x606D</Index>
|
||
|
|
<Name>Velocity window</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity window</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>1027</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x606E</Index>
|
||
|
|
<Name>Velocity window time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity window time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x606F</Index>
|
||
|
|
<Name>Velocity threshold</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity threshold</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>E803</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6070</Index>
|
||
|
|
<Name>Velocity threshold time</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity threshold time</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6071</Index>
|
||
|
|
<Name>Target Torque</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Target Torque</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6072</Index>
|
||
|
|
<Name>Max Torque</Name>
|
||
|
|
<Type>UINT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Max Torque</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>D007</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6074</Index>
|
||
|
|
<Name>Torque demand value</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Torque Actual Value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6076</Index>
|
||
|
|
<Name>Motor rated torque</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Motor rated torque</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6077</Index>
|
||
|
|
<Name>Torque Actual Value</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Torque Actual Value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6078</Index>
|
||
|
|
<Name>Current actual value</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Current actual value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6079</Index>
|
||
|
|
<Name>DC link circuit voltage</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>DC link circuit voltage</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x607A</Index>
|
||
|
|
<Name>Target Position</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Target Position</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x607C</Index>
|
||
|
|
<Name>Home Offset</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Home Offset</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x607D</Index>
|
||
|
|
<Name>Software Position Limit</Name>
|
||
|
|
<Type>DT607D</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Min position limit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>006CCA88</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Max position limit</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00943577</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x607F</Index>
|
||
|
|
<Name>Max Profile Velocity</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Max Profile Velocity</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6081</Index>
|
||
|
|
<Name>Profile Velocity</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Profile Velocity</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6083</Index>
|
||
|
|
<Name>Profile Acceleration</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Profile Acceleration</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6084</Index>
|
||
|
|
<Name>Profile Deceleration</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Profile Deceleration</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6085</Index>
|
||
|
|
<Name>Quickstop Declaration</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Quickstop Declaration</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6087</Index>
|
||
|
|
<Name>Torque slope</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Torque slope</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>E803</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6091</Index>
|
||
|
|
<Name>Gear ratio</Name>
|
||
|
|
<Type>DT6091</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Motor revolutions</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>000051</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Shaft revolutions</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>000051</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60B1</Index>
|
||
|
|
<Name>Velocity Offset</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Velocity Offset</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60B2</Index>
|
||
|
|
<Name>Torque Offset</Name>
|
||
|
|
<Type>INT</Type>
|
||
|
|
<BitSize>16</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Torque Offset</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60C1</Index>
|
||
|
|
<Name>Interpolation Data Record</Name>
|
||
|
|
<Type>DT60C1</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Interpolation data record</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60C2</Index>
|
||
|
|
<Name>Interpolation Time Period</Name>
|
||
|
|
<Type>DT60C2</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Interpolation period</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Interpolation Index</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultValue>-3</DefaultValue>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60F4</Index>
|
||
|
|
<Name>Following error actual value</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Following error actual value</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>T</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x60FF</Index>
|
||
|
|
<Name>Target Velocity</Name>
|
||
|
|
<Type>DINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Target Velocity</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>rw</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
<PdoMapping>R</PdoMapping>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#x6502</Index>
|
||
|
|
<Name>Supported Drive Modes</Name>
|
||
|
|
<Type>UDINT</Type>
|
||
|
|
<BitSize>32</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Supported Drive Modes</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>0001</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#xf000</Index>
|
||
|
|
<Name>Modular device profile</Name>
|
||
|
|
<Type>DTF000</Type>
|
||
|
|
<BitSize>48</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Module index distance</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>2003</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>Maximum number of modules</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#xf010</Index>
|
||
|
|
<Name>Module profile list</Name>
|
||
|
|
<Type>DTF010</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>02</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>92010200</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#xf030</Index>
|
||
|
|
<Name>Configured module Ident list</Name>
|
||
|
|
<Type>DTF030</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00983100</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
<Object>
|
||
|
|
<Index>#xf050</Index>
|
||
|
|
<Name>Module detected list</Name>
|
||
|
|
<Type>DTF050</Type>
|
||
|
|
<BitSize>80</BitSize>
|
||
|
|
<Info>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 000</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>01</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 001</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00983100</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
<SubItem>
|
||
|
|
<Name>SubIndex 002</Name>
|
||
|
|
<Info>
|
||
|
|
<DefaultData>00000000</DefaultData>
|
||
|
|
</Info>
|
||
|
|
</SubItem>
|
||
|
|
</Info>
|
||
|
|
<Flags>
|
||
|
|
<Access>ro</Access>
|
||
|
|
<Category>o</Category>
|
||
|
|
</Flags>
|
||
|
|
</Object>
|
||
|
|
</Objects>
|
||
|
|
</Dictionary>
|
||
|
|
</Profile>
|
||
|
|
<Fmmu>Outputs</Fmmu>
|
||
|
|
<Fmmu>Inputs</Fmmu>
|
||
|
|
<Fmmu>MBoxState</Fmmu>
|
||
|
|
<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
|
||
|
|
<Sm MinSize="34" MaxSize="192" DefaultSize="128" StartAddress="#x1100" ControlByte="#x22" Enable="1">MBoxIn</Sm>
|
||
|
|
<Sm DefaultSize="20" StartAddress="#x1200" ControlByte="#x64" Enable="1">Outputs</Sm>
|
||
|
|
<Sm DefaultSize="14" StartAddress="#x1300" ControlByte="#x20" Enable="1">Inputs</Sm>
|
||
|
|
<Mailbox DataLinkLayer="true">
|
||
|
|
<CoE SdoInfo="true" SegmentedSdo="true" CompleteAccess="true" PdoAssign="true" PdoConfig="true"/>
|
||
|
|
</Mailbox>
|
||
|
|
<Dc>
|
||
|
|
<OpMode>
|
||
|
|
<Name>Synchron</Name>
|
||
|
|
<Desc>SM-Synchron</Desc>
|
||
|
|
<AssignActivate>#x0</AssignActivate>
|
||
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
||
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
||
|
|
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
|
||
|
|
</OpMode>
|
||
|
|
<OpMode>
|
||
|
|
<Name>DC</Name>
|
||
|
|
<Desc>DC-Synchron</Desc>
|
||
|
|
<AssignActivate>#x300</AssignActivate>
|
||
|
|
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
|
||
|
|
<ShiftTimeSync0>0</ShiftTimeSync0>
|
||
|
|
<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
|
||
|
|
</OpMode>
|
||
|
|
</Dc>
|
||
|
|
<Slots SlotIndexIncrement="#x800" SlotPdoIncrement="16">
|
||
|
|
<Slot MinInstances="1" MaxInstances="1">
|
||
|
|
<Name>Axis 0</Name>
|
||
|
|
<ModuleIdent Default="1">#x119800</ModuleIdent>
|
||
|
|
<ModuleIdent Default="0">#x219800</ModuleIdent>
|
||
|
|
<ModuleIdent Default="0">#x319800</ModuleIdent>
|
||
|
|
</Slot>
|
||
|
|
</Slots>
|
||
|
|
<Eeprom>
|
||
|
|
<ByteSize>2048</ByteSize>
|
||
|
|
<ConfigData>800E00CC8813f000000000800000</ConfigData>
|
||
|
|
</Eeprom>
|
||
|
|
<ImageData16x14>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</ImageData16x14>
|
||
|
|
</Device>
|
||
|
|
</Devices>
|
||
|
|
<Modules>
|
||
|
|
<Module>
|
||
|
|
<Type ModuleIdent="#x119800">Axis (csv,csp,cst)</Type>
|
||
|
|
<Name>dynamic switchbewteen csp/csv</Name>
|
||
|
|
<RxPdo Fixed="0" Sm="2">
|
||
|
|
<Index DependOnSlot="true">#x1600</Index>
|
||
|
|
<Exclude>#x1601</Exclude>
|
||
|
|
<Exclude>#x1602</Exclude>
|
||
|
|
<Name LcId="1033">Outputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6040</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Control Word</Name>
|
||
|
|
<Comment>object 0x6040:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x607A</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Target Position</Name>
|
||
|
|
<Comment>object 0x607A:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x60FF</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Target Velocity</Name>
|
||
|
|
<Comment>object 0x60FF:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6071</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Target Torque</Name>
|
||
|
|
<Comment>object 0x6071:0</Comment>
|
||
|
|
<DataType>INT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6060</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Mode Of Operation</Name>
|
||
|
|
<Comment>object 0x6060:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</RxPdo>
|
||
|
|
<TxPdo Fixed="0" Sm="3">
|
||
|
|
<Index DependOnSlot="true">#x1a00</Index>
|
||
|
|
<Exclude>#x1a01</Exclude>
|
||
|
|
<Exclude>#x1a02</Exclude>
|
||
|
|
<Name LcId="1033">Inputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6041</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Status Word</Name>
|
||
|
|
<Comment>object 0x6041:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6064</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Actual Position</Name>
|
||
|
|
<Comment>object 0x6064:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x606C</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Actual Velocity</Name>
|
||
|
|
<Comment>object 0x606C:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6077</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Actual Torque</Name>
|
||
|
|
<Comment>object 0x6077:0</Comment>
|
||
|
|
<DataType>INT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6061</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Mode Of OperationDisplay</Name>
|
||
|
|
<Comment>object 0x6061:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x603F</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Error Code</Name>
|
||
|
|
<Comment>object 0x603F:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</TxPdo>
|
||
|
|
<Profile>
|
||
|
|
<ProfileNo>402</ProfileNo>
|
||
|
|
</Profile>
|
||
|
|
</Module>
|
||
|
|
<Module>
|
||
|
|
<Type ModuleIdent="#x219800">Axis (pp,pv,pt)</Type>
|
||
|
|
<Name>Axis only supports pp</Name>
|
||
|
|
<RxPdo Fixed="1" Sm="2">
|
||
|
|
<Index DependOnSlot="true">#x1601</Index>
|
||
|
|
<Exclude>#x1600</Exclude>
|
||
|
|
<Exclude>#x1602</Exclude>
|
||
|
|
<Name LcId="1033">Outputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6040</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Control Word</Name>
|
||
|
|
<Comment>object 0x6040:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x607A</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Target Position</Name>
|
||
|
|
<Comment>object 0x607A:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x60FF</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Target Velocity</Name>
|
||
|
|
<Comment>object 0x60FF:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6071</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Target Torque</Name>
|
||
|
|
<Comment>object 0x6071:0</Comment>
|
||
|
|
<DataType>INT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6083</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Profile Acceleration</Name>
|
||
|
|
<Comment>object 0x6083:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6084</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Profile Deceleration</Name>
|
||
|
|
<Comment>object 0x6084:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6081</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Profile Velocity</Name>
|
||
|
|
<Comment>object 0x6081:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6087</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Torque Slope</Name>
|
||
|
|
<Comment>object 0x6087:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6060</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Modes Of Operation</Name>
|
||
|
|
<Comment>object 0x6060:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</RxPdo>
|
||
|
|
<TxPdo Fixed="1" Sm="3">
|
||
|
|
<Index DependOnSlot="true">#x1a01</Index>
|
||
|
|
<Exclude>#x1a00</Exclude>
|
||
|
|
<Exclude>#x1a02</Exclude>
|
||
|
|
<Name LcId="1033">Inputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6041</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Status Word</Name>
|
||
|
|
<Comment>object 0x6041:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6064</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Actual Position</Name>
|
||
|
|
<Comment>object 0x6064:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x606C</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Actual Velocity</Name>
|
||
|
|
<Comment>object 0x606C:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6077</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Actual Torque</Name>
|
||
|
|
<Comment>object 0x6077:0</Comment>
|
||
|
|
<DataType>INT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6061</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Mode Of OperationDisplay</Name>
|
||
|
|
<Comment>object 0x6061:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x603F</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Error Code</Name>
|
||
|
|
<Comment>object 0x603F:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</TxPdo>
|
||
|
|
<Mailbox>
|
||
|
|
<CoE>
|
||
|
|
<InitCmd>
|
||
|
|
<Transition>SO</Transition>
|
||
|
|
<Index DependOnSlot="true">#x6060</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<Data>08</Data>
|
||
|
|
<Comment>Modes of operation</Comment>
|
||
|
|
</InitCmd>
|
||
|
|
</CoE>
|
||
|
|
</Mailbox>
|
||
|
|
<Profile>
|
||
|
|
<ProfileNo>402</ProfileNo>
|
||
|
|
</Profile>
|
||
|
|
</Module>
|
||
|
|
<Module>
|
||
|
|
<Type ModuleIdent="#x319800">pv - axis</Type>
|
||
|
|
<Name>Axis only supports pv</Name>
|
||
|
|
<RxPdo Fixed="1" Sm="2">
|
||
|
|
<Index DependOnSlot="true">#x1602</Index>
|
||
|
|
<Exclude>#x1600</Exclude>
|
||
|
|
<Exclude>#x1601</Exclude>
|
||
|
|
<Name LcId="1033">Outputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6040</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Control Word</Name>
|
||
|
|
<Comment>object 0x6040:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x60FF</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Target Velocity</Name>
|
||
|
|
<Comment>object 0x60FF:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6083</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Profile Acceleration</Name>
|
||
|
|
<Comment>object 0x6083:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6084</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Profile Deceleration</Name>
|
||
|
|
<Comment>object 0x6084:0</Comment>
|
||
|
|
<DataType>UDINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6060</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Modes Of Operation</Name>
|
||
|
|
<Comment>object 0x6060:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</RxPdo>
|
||
|
|
<TxPdo Fixed="1" Sm="3">
|
||
|
|
<Index DependOnSlot="true">#x1a02</Index>
|
||
|
|
<Exclude>#x1a00</Exclude>
|
||
|
|
<Exclude>#x1a01</Exclude>
|
||
|
|
<Name LcId="1033">Inputs</Name>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6041</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Status Word</Name>
|
||
|
|
<Comment>object 0x6041:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x606C</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>32</BitLen>
|
||
|
|
<Name LcId="1033">Actual Velocity</Name>
|
||
|
|
<Comment>object 0x606C:0</Comment>
|
||
|
|
<DataType>DINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x6061</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
<Name LcId="1033">Mode Of OperationDisplay</Name>
|
||
|
|
<Comment>object 0x6061:0</Comment>
|
||
|
|
<DataType>SINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index DependOnSlot="true">#x603F</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>16</BitLen>
|
||
|
|
<Name LcId="1033">Error Code</Name>
|
||
|
|
<Comment>object 0x603F:0</Comment>
|
||
|
|
<DataType>UINT</DataType>
|
||
|
|
</Entry>
|
||
|
|
<Entry>
|
||
|
|
<Index>#x0</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<BitLen>8</BitLen>
|
||
|
|
</Entry>
|
||
|
|
</TxPdo>
|
||
|
|
<Mailbox>
|
||
|
|
<CoE>
|
||
|
|
<InitCmd>
|
||
|
|
<Transition>SO</Transition>
|
||
|
|
<Index DependOnSlot="true">#x6060</Index>
|
||
|
|
<SubIndex>0</SubIndex>
|
||
|
|
<Data>08</Data>
|
||
|
|
<Comment>Modes of operation</Comment>
|
||
|
|
</InitCmd>
|
||
|
|
</CoE>
|
||
|
|
</Mailbox>
|
||
|
|
<Profile>
|
||
|
|
<ProfileNo>402</ProfileNo>
|
||
|
|
</Profile>
|
||
|
|
</Module>
|
||
|
|
</Modules>
|
||
|
|
</Descriptions>
|
||
|
|
</EtherCATInfo>
|