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Matthias Heisig
2026-01-08 11:08:17 +01:00
commit fe882dc444
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_Config/IO/Device 7 (EtherCAT).xti Normal file
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<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevEtherCATDef" SubType="111">
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<Device Id="7" DevType="111" DevFlags="#x0003" AmsPort="28679" AmsNetId="5.127.104.206.8.1" RemoteName="Device 7 (EtherCAT)" InfoImageId="12">
<Name>__FILENAME__</Name>
<AddressInfo>
<Pnp>
<DeviceDesc>Meca500Etcher2 (TwinCAT-Intel PCI Ethernet Adapter </DeviceDesc>
<DeviceName>\DEVICE\{D032015D-3997-4333-B184-A38CACEE69B9}</DeviceName>
<DeviceData>00010592089f</DeviceData>
</Pnp>
</AddressInfo>
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<Name>Image</Name>
</Image>
<Box Id="2" BoxType="9099" BoxFlags="#x00000020">
<Name>Etcher2Robot (Meca500)</Name>
<ImageId>1000</ImageId>
<EtherCAT SlaveType="2" PdiType="#x0e80" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" VendorId="#x00ecade1" ProductCode="#x0004d500" RevisionNo="#x00000001" InfoDataAddr="true" TimeoutStateChange1="2000" TimeoutStateChange2="9000" TimeoutMailbox2="2000" PortPhys="17" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="Meca500" Desc="Meca500" SmPdoVariables="true" PortABoxInfo="#x00ffffff">
<SyncMan>001080002600010001000000240080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000240080008000801022010000</SyncMan>
<SyncMan>00113c006400010003000000000000003c00001164010000</SyncMan>
<SyncMan>0014fc00200001000400000000000000fc00001420010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000001400010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
<DcMode>53796e6368726f6e0000000000000000534d2d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000</DcMode>
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
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<Type>BIT</Type>
</Entry>
<Entry Name="Activated" Index="#x6010" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Homed" Index="#x6010" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="SimActivated" Index="#x6010" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="BrakesEngaged" Index="#x6010" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="RecoveryMode" Index="#x6010" Sub="#x07">
<Type>BIT</Type>
</Entry>
<Entry Name="Estop" Index="#x6010" Sub="#x08">
<Type>BIT</Type>
</Entry>
<Entry Name="CollisionStatus" Index="#x6010" Sub="#x09">
<Type>BIT</Type>
</Entry>
<Entry Name="WorkZoneStatus" Index="#x6010" Sub="#x0a">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000007}">ARRAY [0..6] OF BIT</Type>
</Entry>
<Entry Name="Error" Index="#x6010" Sub="#x01">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="Motion Status" Index="#x1a01" Flags="#x0011" SyncMan="3">
<Entry Name="ReachedCheckPointId" Index="#x6015" Sub="#x01">
<Type>UINT</Type>
</Entry>
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<Type>UINT</Type>
</Entry>
<Entry Name="Move ID" Index="#x6015" Sub="#x03">
<Type>UINT</Type>
</Entry>
<Entry Name="FIFO Space" Index="#x6015" Sub="#x04">
<Type>UINT</Type>
</Entry>
<Entry Name="Paused" Index="#x6015" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="EOB" Index="#x6015" Sub="#x07">
<Type>BIT</Type>
</Entry>
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<Type>BIT</Type>
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<Entry Name="FIFO Cleared" Index="#x6015" Sub="#x09">
<Type>BIT</Type>
</Entry>
<Entry Name="PStop2" Index="#x6015" Sub="#x0a">
<Type>BIT</Type>
</Entry>
<Entry Name="Excessive torque" Index="#x6015" Sub="#x0b">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-00200000000A}">ARRAY [0..9] OF BIT</Type>
</Entry>
<Entry Name="Offline Program ID" Index="#x6015" Sub="#x05">
<Type>UINT</Type>
</Entry>
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<Type>REAL</Type>
</Entry>
</Pdo>
<Pdo Name="End-Effector Pose" Index="#x1a03" Flags="#x0010" SyncMan="3">
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Pdo Name="Configurations" Index="#x1a08" Flags="#x0010" SyncMan="3">
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<Type>SINT</Type>
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<Type>SINT</Type>
</Entry>
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<Type>SINT</Type>
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<Type>SINT</Type>
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Type>REAL</Type>
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<Type>UDINT</Type>
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<Type>UDINT</Type>
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<Type>UDINT</Type>
</Entry>
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<Type>BIT</Type>
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<Entry Name="Estop Resettable" Index="#x6065" Sub="#x21">
<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="PStop2 Resettable" Index="#x6065" Sub="#x23">
<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="Reboot Resettable" Index="#x6065" Sub="#x28">
<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Entry Name="Value 0" Index="#x6073" Sub="#x02">
<Type>REAL</Type>
</Entry>
<Entry Name="Value 1" Index="#x6073" Sub="#x03">
<Type>REAL</Type>
</Entry>
<Entry Name="Value 2" Index="#x6073" Sub="#x04">
<Type>REAL</Type>
</Entry>
<Entry Name="Value 3" Index="#x6073" Sub="#x05">
<Type>REAL</Type>
</Entry>
<Entry Name="Value 4" Index="#x6073" Sub="#x06">
<Type>REAL</Type>
</Entry>
<Entry Name="Value 5" Index="#x6073" Sub="#x07">
<Type>REAL</Type>
</Entry>
</Pdo>
<Pdo Name="Robot Control" Index="#x1600" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Deactivate" Index="#x7200" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Activate" Index="#x7200" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Home" Index="#x7200" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Reset Error" Index="#x7200" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Sim Mode" Index="#x7200" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="Recovery Mode" Index="#x7200" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="DisableEtherCAT" Index="#x7200" Sub="#x07">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000019}">ARRAY [0..24] OF BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Motion Control" Index="#x1601" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Move ID" Index="#x7310" Sub="#x01">
<Type>UINT</Type>
</Entry>
<Entry Name="SetPoint" Index="#x7310" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Pause" Index="#x7310" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Clear Move" Index="#x7310" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Resume Motion" Index="#x7310" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Move" Index="#x1602" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Move Command" Index="#x7305">
<Type>UDINT</Type>
</Entry>
<Entry Name="SubIndex 001" Index="#x7306" Sub="#x01">
<Type>REAL</Type>
</Entry>
<Entry Name="SubIndex 002" Index="#x7306" Sub="#x02">
<Type>REAL</Type>
</Entry>
<Entry Name="SubIndex 003" Index="#x7306" Sub="#x03">
<Type>REAL</Type>
</Entry>
<Entry Name="SubIndex 004" Index="#x7306" Sub="#x04">
<Type>REAL</Type>
</Entry>
<Entry Name="SubIndex 005" Index="#x7306" Sub="#x05">
<Type>REAL</Type>
</Entry>
<Entry Name="SubIndex 006" Index="#x7306" Sub="#x06">
<Type>REAL</Type>
</Entry>
</Pdo>
<Pdo Name="Host Time" Index="#x1610" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Host Time" Index="#x7400">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Brakes Control" Index="#x1611" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="BrakesControlAllowed" Index="#x7410" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="BrakesEngaged" Index="#x7410" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-00200000001E}">ARRAY [0..29] OF BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Dynamic Data Cfg 0" Index="#x1620" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Dynamic Type" Index="#x7420" Sub="#x01">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Dynamic Data Cfg 1" Index="#x1621" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Dynamic Type" Index="#x7421" Sub="#x01">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Dynamic Data Cfg 2" Index="#x1622" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Dynamic Type" Index="#x7422" Sub="#x01">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="Dynamic Data Cfg 3" Index="#x1623" InOut="1" Flags="#x0011" SyncMan="2">
<Entry Name="Dynamic Type" Index="#x7423" Sub="#x01">
<Type>UDINT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="5001"/>
</EtherCAT>
</Box>
<EtherCAT/>
</Device>
</TcSmItem>