ARRAY [0..6] OF BIT 7 BIT 0 7 ARRAY [0..9] OF BIT 10 BIT 0 10 ARRAY [0..1] OF BIT 2 BIT 0 2 ARRAY [0..0] OF BYTE 8 BYTE 0 1 ARRAY [0..24] OF BIT 25 BIT 0 25 ARRAY [0..11] OF BIT 12 BIT 0 12 ARRAY [0..29] OF BIT 30 BIT 0 30 AMSNETID 48 BYTE 0 6 %d.%d.%d.%d.%d.%d [0] [1] [2] [3] [4] [5] AMSADDR 64 netId AMSNETID 48 0 port WORD 16 48 %d.%d.%d.%d.%d.%d:%d .netId[0] .netId[1] .netId[2] .netId[3] .netId[4] .netId[5] .port (netId:=[%d.%d.%d.%d.%d.%d], port :=%d) .netId[0] .netId[1] .netId[2] .netId[3] .netId[4] .netId[5] .port ECAT_Meca500_PDO_883D947B 32 Busy BIT 1 0 Activated BIT 1 1 Homed BIT 1 2 SimActivated BIT 1 3 BrakesEngaged BIT 1 4 RecoveryMode BIT 1 5 Estop BIT 1 6 CollisionStatus BIT 1 7 WorkZoneStatus BIT 1 8 Error UINT 16 16 ECAT_Meca500_PDO_DDE4928A 96 ReachedCheckPointId UINT 16 0 DiscardedCheckpointId UINT 16 16 Move_ID UINT 16 32 FIFO_Space UINT 16 48 Paused BIT 1 64 EOB BIT 1 65 EOM BIT 1 66 FIFO_Cleared BIT 1 67 PStop2 BIT 1 68 Excessive_torque BIT 1 69 Offline_Program_ID UINT 16 80 ECAT_Meca500_PDO_8D8A9F23 192 SubIndex_001 REAL 32 0 SubIndex_002 REAL 32 32 SubIndex_003 REAL 32 64 SubIndex_004 REAL 32 96 SubIndex_005 REAL 32 128 SubIndex_006 REAL 32 160 ECAT_Meca500_PDO_58F88E7F 32 Shoulder SINT 8 0 Elbow SINT 8 8 Wrist SINT 8 16 Turn SINT 8 24 ECAT_Meca500_PDO_196EA34E 96 Timestamp_Seconds UDINT 32 0 Timestamp_Microseconds UDINT 32 32 Dynamic_Data_Cycles UDINT 32 64 ECAT_Meca500_PDO_E8BBB3B0 96 Estop BIT 1 0 Unused2 BIT 1 1 PStop2 BIT 1 2 Unused4 BIT 1 3 Unused5 BIT 1 4 Unused6 BIT 1 5 Unused7 BIT 1 6 Reboot BIT 1 7 Unused9 BIT 1 8 Unused10 BIT 1 9 Connection_Dropped BIT 1 10 Unused12 BIT 1 11 Unused13 BIT 1 12 Unused14 BIT 1 13 Unused15 BIT 1 14 Unused16 BIT 1 15 Unused17 BIT 1 16 Unused18 BIT 1 17 Unused19 BIT 1 18 Unused20 BIT 1 19 Unused21 BIT 1 20 Unused22 BIT 1 21 Unused23 BIT 1 22 Unused24 BIT 1 23 Unused25 BIT 1 24 Unused26 BIT 1 25 Unused27 BIT 1 26 Unused28 BIT 1 27 Unused29 BIT 1 28 Unused30 BIT 1 29 Unused31 BIT 1 30 Unused32 BIT 1 31 Estop_Resettable BIT 1 32 Unused34 BIT 1 33 PStop2_Resettable BIT 1 34 Unused36 BIT 1 35 Unused37 BIT 1 36 Unused38 BIT 1 37 Unused39 BIT 1 38 Reboot_Resettable BIT 1 39 Unused41 BIT 1 40 Unused42 BIT 1 41 Connection_Dropped_Resettable BIT 1 42 Unused44 BIT 1 43 Unused45 BIT 1 44 Unused46 BIT 1 45 Unused47 BIT 1 46 Unused48 BIT 1 47 Unused49 BIT 1 48 Unused50 BIT 1 49 Unused51 BIT 1 50 Unused52 BIT 1 51 Unused53 BIT 1 52 Unused54 BIT 1 53 Unused55 BIT 1 54 Unused56 BIT 1 55 Unused57 BIT 1 56 Unused58 BIT 1 57 Unused59 BIT 1 58 Unused60 BIT 1 59 Unused61 BIT 1 60 Unused62 BIT 1 61 Unused63 BIT 1 62 Unused64 BIT 1 63 Unused65 USINT 8 64 Reset_Ready BIT 1 72 Vmotor_on BIT 1 73 Unused68 BIT 1 74 Unused69 BIT 1 75 Unused70 BIT 1 76 Unused71 BIT 1 77 Unused72 BIT 1 78 Unused73 BIT 1 79 Unused74 BIT 1 80 Unused75 BIT 1 81 Unused76 BIT 1 82 Unused77 BIT 1 83 Unused78 BIT 1 84 Unused79 BIT 1 85 ECAT_Meca500_PDO_D220615F 224 Dynamic_Type UDINT 32 0 Value_0 REAL 32 32 Value_1 REAL 32 64 Value_2 REAL 32 96 Value_3 REAL 32 128 Value_4 REAL 32 160 Value_5 REAL 32 192 ECAT_Meca500_SM_A41851CD 2016 Robot_Status ECAT_Meca500_PDO_883D947B 32 0 Motion_Status ECAT_Meca500_PDO_DDE4928A 96 32 Joint_Set ECAT_Meca500_PDO_8D8A9F23 192 128 End_Effector_Pose ECAT_Meca500_PDO_8D8A9F23 192 320 Configurations ECAT_Meca500_PDO_58F88E7F 32 512 WRF ECAT_Meca500_PDO_8D8A9F23 192 544 TRF ECAT_Meca500_PDO_8D8A9F23 192 736 Robot_Timestamp ECAT_Meca500_PDO_196EA34E 96 928 Safety_Status ECAT_Meca500_PDO_E8BBB3B0 96 1024 Dynamic_Data_0 ECAT_Meca500_PDO_D220615F 224 1120 Dynamic_Data_1 ECAT_Meca500_PDO_D220615F 224 1344 Dynamic_Data_2 ECAT_Meca500_PDO_D220615F 224 1568 Dynamic_Data_3 ECAT_Meca500_PDO_D220615F 224 1792 Meca500_I_5A914209 4320 WcState_WcState BIT 1 0 WcState_InputToggle BIT 1 1 InfoData_State UINT 16 16 InfoData_AdsAddr AMSADDR 64 64 SmPdoVariables_Meca500_SM_3 ECAT_Meca500_SM_A41851CD 2016 2016 ECAT_Meca500_PDO_8281CDCC 32 Deactivate BIT 1 0 Activate BIT 1 1 Home BIT 1 2 Reset_Error BIT 1 3 Sim_Mode BIT 1 4 Recovery_Mode BIT 1 5 DisableEtherCAT BIT 1 6 ECAT_Meca500_PDO_F7216F9A 32 Move_ID UINT 16 0 SetPoint BIT 1 16 Pause BIT 1 17 Clear_Move BIT 1 18 Resume_Motion BIT 1 19 ECAT_Meca500_PDO_6E98024C 224 Move_Command UDINT 32 0 SubIndex_001 REAL 32 32 SubIndex_002 REAL 32 64 SubIndex_003 REAL 32 96 SubIndex_004 REAL 32 128 SubIndex_005 REAL 32 160 SubIndex_006 REAL 32 192 ECAT_Meca500_PDO_1D4C280D 32 Host_Time UDINT 32 0 ECAT_Meca500_PDO_149ED1D2 32 BrakesControlAllowed BIT 1 0 BrakesEngaged BIT 1 1 ECAT_Meca500_PDO_A78E8BA6 32 Dynamic_Type UDINT 32 0 ECAT_Meca500_SM_B68C3E66 480 Robot_Control ECAT_Meca500_PDO_8281CDCC 32 0 Motion_Control ECAT_Meca500_PDO_F7216F9A 32 32 _Move ECAT_Meca500_PDO_6E98024C 224 64 Host_Time ECAT_Meca500_PDO_1D4C280D 32 288 Brakes_Control ECAT_Meca500_PDO_149ED1D2 32 320 Dynamic_Data_Cfg_0 ECAT_Meca500_PDO_A78E8BA6 32 352 Dynamic_Data_Cfg_1 ECAT_Meca500_PDO_A78E8BA6 32 384 Dynamic_Data_Cfg_2 ECAT_Meca500_PDO_A78E8BA6 32 416 Dynamic_Data_Cfg_3 ECAT_Meca500_PDO_A78E8BA6 32 448 Meca500_O_5A914209 2400 SmPdoVariables_Meca500_SM_2 ECAT_Meca500_SM_B68C3E66 480 0 Meca500_5A914209 6720 Meca500_Input Meca500_I_5A914209 4320 0 TcDataArea Input Meca500_Output Meca500_O_5A914209 2400 4320 TcDataArea Output 424de6000000000000007600000028000000100000000e000000010004000000000070000000c21e0000c21e000000000000000000006865630089786200c18c5600c89a64009f918300a9a7a600d7b69400e2d1bf00e2e2e200f4e9db00f7efe700f3efef00f7f7ef00f7f7f700fff7f700ffffff00ffffffffffffffffffffffffffffffff63fffff66fffff44327fffb639fff704723fff4626fff407f329f80522af800df726f505626f505ffc22a00ba22a00bfff62604ff62605ffff92358ff92358fffff337ffff337ffffff969ffff769fffffffffffffffffffffffffffffffffff __FILENAME__ Meca500Etcher2 (TwinCAT-Intel PCI Ethernet Adapter \DEVICE\{D032015D-3997-4333-B184-A38CACEE69B9} 00010592089f Image Etcher2Robot (Meca500) 1000 001080002600010001000000240080008000001026010000 801080002200010002000000240080008000801022010000 00113c006400010003000000000000003c00001164010000 0014fc00200001000400000000000000fc00001420010000 0000000000000000001100020100000001000000000000000000000000000000 0000000000000000001400010100000002000000000000000000000000000000 00000000000000000d0800010100000003000000000000000000000000000000 53796e6368726f6e0000000000000000534d2d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000000100000000000000000000000000000000000000000000000000000000000000 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 BIT BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..6] OF BIT UINT UINT UINT UINT UINT BIT BIT BIT BIT BIT BIT ARRAY [0..9] OF BIT UINT REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL SINT SINT SINT SINT REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL REAL UDINT UDINT UDINT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT USINT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..1] OF BIT ARRAY [0..0] OF BYTE UDINT REAL REAL REAL REAL REAL REAL UDINT REAL REAL REAL REAL REAL REAL UDINT REAL REAL REAL REAL REAL REAL UDINT REAL REAL REAL REAL REAL REAL BIT BIT BIT BIT BIT BIT BIT ARRAY [0..24] OF BIT UINT BIT BIT BIT BIT ARRAY [0..11] OF BIT UDINT REAL REAL REAL REAL REAL REAL UDINT BIT BIT ARRAY [0..29] OF BIT UDINT UDINT UDINT UDINT Meca500_5A914209