1901 lines
60 KiB
XML
1901 lines
60 KiB
XML
<?xml version="1.0"?>
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<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevEtherCATDef" SubType="111">
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<DataTypes>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
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|
<BitSize>7</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>7</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000A}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..9] OF BIT</Name>
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<BitSize>10</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>10</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
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<BitSize>2</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>2</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000008}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BYTE</Name>
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<BitSize>8</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>1</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-002000000019}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..24] OF BIT</Name>
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<BitSize>25</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>25</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
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<BitSize>12</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>12</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-00200000001E}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..29] OF BIT</Name>
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<BitSize>30</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>30</Elements>
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</ArrayInfo>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-000000000041}" TcBaseType="true" HideSubItems="true" CName="AmsNetId">AMSNETID</Name>
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<BitSize>48</BitSize>
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<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
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<ArrayInfo>
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<LBound>0</LBound>
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<Elements>6</Elements>
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</ArrayInfo>
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<Format>
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<Printf>%d.%d.%d.%d.%d.%d</Printf>
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<Parameter>[0]</Parameter>
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<Parameter>[1]</Parameter>
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<Parameter>[2]</Parameter>
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<Parameter>[3]</Parameter>
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<Parameter>[4]</Parameter>
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<Parameter>[5]</Parameter>
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</Format>
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</DataType>
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<DataType>
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<Name GUID="{18071995-0000-0000-0000-000000000042}" TcBaseType="true" CName="AmsAddr">AMSADDR</Name>
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<BitSize>64</BitSize>
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<SubItem>
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<Name>netId</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000041}">AMSNETID</Type>
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<BitSize>48</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>port</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000004}">WORD</Type>
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<BitSize>16</BitSize>
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<BitOffs>48</BitOffs>
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</SubItem>
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<Format>
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<Printf>%d.%d.%d.%d.%d.%d:%d</Printf>
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<Parameter>.netId[0]</Parameter>
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<Parameter>.netId[1]</Parameter>
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<Parameter>.netId[2]</Parameter>
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<Parameter>.netId[3]</Parameter>
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<Parameter>.netId[4]</Parameter>
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<Parameter>.netId[5]</Parameter>
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<Parameter>.port</Parameter>
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</Format>
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|
<Format Name="Iec">
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<Printf>(netId:=[%d.%d.%d.%d.%d.%d], port :=%d)</Printf>
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<Parameter>.netId[0]</Parameter>
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<Parameter>.netId[1]</Parameter>
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<Parameter>.netId[2]</Parameter>
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<Parameter>.netId[3]</Parameter>
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<Parameter>.netId[4]</Parameter>
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<Parameter>.netId[5]</Parameter>
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<Parameter>.port</Parameter>
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</Format>
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</DataType>
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<DataType>
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<Name GUID="{883D947B-71E0-0955-49B2-FFB612A1C8FF}">ECAT_Meca500_PDO_883D947B</Name>
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<BitSize>32</BitSize>
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<SubItem>
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<Name>Busy</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>Activated</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>1</BitOffs>
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</SubItem>
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<SubItem>
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<Name>Homed</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>2</BitOffs>
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</SubItem>
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<SubItem>
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<Name>SimActivated</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>3</BitOffs>
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</SubItem>
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<SubItem>
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<Name>BrakesEngaged</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>4</BitOffs>
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</SubItem>
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<SubItem>
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<Name>RecoveryMode</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>5</BitOffs>
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</SubItem>
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<SubItem>
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<Name>Estop</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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|
<BitOffs>6</BitOffs>
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</SubItem>
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<SubItem>
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<Name>CollisionStatus</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>7</BitOffs>
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</SubItem>
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<SubItem>
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<Name>WorkZoneStatus</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<BitOffs>8</BitOffs>
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</SubItem>
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<SubItem>
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<Name>Error</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>16</BitOffs>
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</SubItem>
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</DataType>
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<DataType>
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<Name GUID="{DDE4928A-F654-B975-06E3-83305658A9F8}">ECAT_Meca500_PDO_DDE4928A</Name>
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<BitSize>96</BitSize>
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<SubItem>
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<Name>ReachedCheckPointId</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>0</BitOffs>
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</SubItem>
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<SubItem>
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<Name>DiscardedCheckpointId</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>16</BitOffs>
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</SubItem>
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<SubItem>
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<Name>Move_ID</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
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<BitSize>16</BitSize>
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<BitOffs>32</BitOffs>
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</SubItem>
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<SubItem>
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<Name>FIFO_Space</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
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<BitSize>16</BitSize>
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<BitOffs>48</BitOffs>
|
|
</SubItem>
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<SubItem>
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<Name>Paused</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
|
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<BitOffs>64</BitOffs>
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</SubItem>
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|
<SubItem>
|
|
<Name>EOB</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
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<BitSize>1</BitSize>
|
|
<BitOffs>65</BitOffs>
|
|
</SubItem>
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|
<SubItem>
|
|
<Name>EOM</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>66</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>FIFO_Cleared</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>67</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PStop2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>68</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Excessive_torque</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>69</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Offline_Program_ID</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>80</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{8D8A9F23-B52A-E935-4C9C-4D8C551F67C1}">ECAT_Meca500_PDO_8D8A9F23</Name>
|
|
<BitSize>192</BitSize>
|
|
<SubItem>
|
|
<Name>SubIndex_001</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_002</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_003</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_004</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_005</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_006</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{58F88E7F-ED23-E624-23C7-9CFDDC1BD6CB}">ECAT_Meca500_PDO_58F88E7F</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Shoulder</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000003}">SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Elbow</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000003}">SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Wrist</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000003}">SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Turn</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000003}">SINT</Type>
|
|
<BitSize>8</BitSize>
|
|
<BitOffs>24</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{196EA34E-BBC5-4053-6D3A-6BDCD995A9E6}">ECAT_Meca500_PDO_196EA34E</Name>
|
|
<BitSize>96</BitSize>
|
|
<SubItem>
|
|
<Name>Timestamp_Seconds</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Timestamp_Microseconds</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_Cycles</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{E8BBB3B0-F6E9-B428-3C24-D153E4CE09FD}">ECAT_Meca500_PDO_E8BBB3B0</Name>
|
|
<BitSize>96</BitSize>
|
|
<SubItem>
|
|
<Name>Estop</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>PStop2</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused4</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>3</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused5</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>4</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused6</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>5</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused7</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>6</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Reboot</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>7</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused9</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>8</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused10</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>9</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Connection_Dropped</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>10</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused12</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>11</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused13</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>12</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Unused14</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused16</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused17</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused18</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused19</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<SubItem>
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<Name>Unused20</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<SubItem>
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<Name>Unused21</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<SubItem>
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<Name>Unused22</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<Name>Unused23</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused24</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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<Name>Unused25</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused26</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused27</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused28</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Name>Unused29</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused30</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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<Name>Unused31</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused32</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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<Name>Estop_Resettable</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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|
<SubItem>
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|
<Name>PStop2_Resettable</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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|
<Name>Reboot_Resettable</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<SubItem>
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<Name>Unused60</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Name>Unused64</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<SubItem>
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<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
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|
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|
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|
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|
<SubItem>
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|
<Name>Reset_Ready</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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|
<BitOffs>72</BitOffs>
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|
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|
<SubItem>
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|
<Name>Vmotor_on</Name>
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|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
<BitSize>1</BitSize>
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|
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<SubItem>
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<Name>Unused68</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<BitSize>1</BitSize>
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<SubItem>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
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|
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<Name>Dynamic_Type</Name>
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<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
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|
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|
<Name>Value_0</Name>
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<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
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|
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|
<Name>Value_1</Name>
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|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
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|
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<SubItem>
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|
<Name>Value_2</Name>
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<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
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|
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<SubItem>
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<Name>Value_4</Name>
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<Name>Robot_Status</Name>
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|
<Type GUID="{883D947B-71E0-0955-49B2-FFB612A1C8FF}">ECAT_Meca500_PDO_883D947B</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Motion_Status</Name>
|
|
<Type GUID="{DDE4928A-F654-B975-06E3-83305658A9F8}">ECAT_Meca500_PDO_DDE4928A</Type>
|
|
<BitSize>96</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Joint_Set</Name>
|
|
<Type GUID="{8D8A9F23-B52A-E935-4C9C-4D8C551F67C1}">ECAT_Meca500_PDO_8D8A9F23</Type>
|
|
<BitSize>192</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>End_Effector_Pose</Name>
|
|
<Type GUID="{8D8A9F23-B52A-E935-4C9C-4D8C551F67C1}">ECAT_Meca500_PDO_8D8A9F23</Type>
|
|
<BitSize>192</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Configurations</Name>
|
|
<Type GUID="{58F88E7F-ED23-E624-23C7-9CFDDC1BD6CB}">ECAT_Meca500_PDO_58F88E7F</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>512</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>WRF</Name>
|
|
<Type GUID="{8D8A9F23-B52A-E935-4C9C-4D8C551F67C1}">ECAT_Meca500_PDO_8D8A9F23</Type>
|
|
<BitSize>192</BitSize>
|
|
<BitOffs>544</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>TRF</Name>
|
|
<Type GUID="{8D8A9F23-B52A-E935-4C9C-4D8C551F67C1}">ECAT_Meca500_PDO_8D8A9F23</Type>
|
|
<BitSize>192</BitSize>
|
|
<BitOffs>736</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Robot_Timestamp</Name>
|
|
<Type GUID="{196EA34E-BBC5-4053-6D3A-6BDCD995A9E6}">ECAT_Meca500_PDO_196EA34E</Type>
|
|
<BitSize>96</BitSize>
|
|
<BitOffs>928</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Safety_Status</Name>
|
|
<Type GUID="{E8BBB3B0-F6E9-B428-3C24-D153E4CE09FD}">ECAT_Meca500_PDO_E8BBB3B0</Type>
|
|
<BitSize>96</BitSize>
|
|
<BitOffs>1024</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_0</Name>
|
|
<Type GUID="{D220615F-ACDE-A394-753D-55D6CBABE5A5}">ECAT_Meca500_PDO_D220615F</Type>
|
|
<BitSize>224</BitSize>
|
|
<BitOffs>1120</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_1</Name>
|
|
<Type GUID="{D220615F-ACDE-A394-753D-55D6CBABE5A5}">ECAT_Meca500_PDO_D220615F</Type>
|
|
<BitSize>224</BitSize>
|
|
<BitOffs>1344</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_2</Name>
|
|
<Type GUID="{D220615F-ACDE-A394-753D-55D6CBABE5A5}">ECAT_Meca500_PDO_D220615F</Type>
|
|
<BitSize>224</BitSize>
|
|
<BitOffs>1568</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_3</Name>
|
|
<Type GUID="{D220615F-ACDE-A394-753D-55D6CBABE5A5}">ECAT_Meca500_PDO_D220615F</Type>
|
|
<BitSize>224</BitSize>
|
|
<BitOffs>1792</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{68C61671-EE3B-484A-4E14-81D50CAE9CAF}" AutoDeleteType="true" ForceIecDecl="true">Meca500_I_5A914209</Name>
|
|
<BitSize>4320</BitSize>
|
|
<SubItem>
|
|
<Name>WcState_WcState</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>WcState_InputToggle</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>InfoData_State</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>InfoData_AdsAddr</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000042}">AMSADDR</Type>
|
|
<BitSize>64</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SmPdoVariables_Meca500_SM_3</Name>
|
|
<Type GUID="{A41851CD-5DF9-39E9-D724-A4CBC52BEF40}">ECAT_Meca500_SM_A41851CD</Type>
|
|
<BitSize>2016</BitSize>
|
|
<BitOffs>2016</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{8281CDCC-6C50-981A-EEDD-6421CB7C3652}">ECAT_Meca500_PDO_8281CDCC</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Deactivate</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Activate</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Home</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>2</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Reset_Error</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>3</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Sim_Mode</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>4</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Recovery_Mode</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>5</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>DisableEtherCAT</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>6</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{F7216F9A-FC69-77D4-C90D-954DBC429F4E}">ECAT_Meca500_PDO_F7216F9A</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Move_ID</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
|
|
<BitSize>16</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SetPoint</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>16</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Pause</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>17</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Clear_Move</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>18</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Resume_Motion</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>19</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{6E98024C-A60B-611C-A9F6-A8483710A700}">ECAT_Meca500_PDO_6E98024C</Name>
|
|
<BitSize>224</BitSize>
|
|
<SubItem>
|
|
<Name>Move_Command</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_001</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_002</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_003</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>96</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_004</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>128</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_005</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>160</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>SubIndex_006</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-00000000000D}">REAL</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>192</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{1D4C280D-DA9A-CCE2-611B-4B05012306DF}">ECAT_Meca500_PDO_1D4C280D</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Host_Time</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{149ED1D2-C287-D835-28A3-7C489B582CE1}">ECAT_Meca500_PDO_149ED1D2</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>BrakesControlAllowed</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>BrakesEngaged</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
|
|
<BitSize>1</BitSize>
|
|
<BitOffs>1</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{A78E8BA6-F454-F654-5B19-649E770A72C1}">ECAT_Meca500_PDO_A78E8BA6</Name>
|
|
<BitSize>32</BitSize>
|
|
<SubItem>
|
|
<Name>Dynamic_Type</Name>
|
|
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{B68C3E66-FD13-503E-A412-43AF836EBD9E}">ECAT_Meca500_SM_B68C3E66</Name>
|
|
<BitSize>480</BitSize>
|
|
<SubItem>
|
|
<Name>Robot_Control</Name>
|
|
<Type GUID="{8281CDCC-6C50-981A-EEDD-6421CB7C3652}">ECAT_Meca500_PDO_8281CDCC</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Motion_Control</Name>
|
|
<Type GUID="{F7216F9A-FC69-77D4-C90D-954DBC429F4E}">ECAT_Meca500_PDO_F7216F9A</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>32</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>_Move</Name>
|
|
<Type GUID="{6E98024C-A60B-611C-A9F6-A8483710A700}">ECAT_Meca500_PDO_6E98024C</Type>
|
|
<BitSize>224</BitSize>
|
|
<BitOffs>64</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Host_Time</Name>
|
|
<Type GUID="{1D4C280D-DA9A-CCE2-611B-4B05012306DF}">ECAT_Meca500_PDO_1D4C280D</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>288</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Brakes_Control</Name>
|
|
<Type GUID="{149ED1D2-C287-D835-28A3-7C489B582CE1}">ECAT_Meca500_PDO_149ED1D2</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>320</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_Cfg_0</Name>
|
|
<Type GUID="{A78E8BA6-F454-F654-5B19-649E770A72C1}">ECAT_Meca500_PDO_A78E8BA6</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>352</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_Cfg_1</Name>
|
|
<Type GUID="{A78E8BA6-F454-F654-5B19-649E770A72C1}">ECAT_Meca500_PDO_A78E8BA6</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>384</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_Cfg_2</Name>
|
|
<Type GUID="{A78E8BA6-F454-F654-5B19-649E770A72C1}">ECAT_Meca500_PDO_A78E8BA6</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>416</BitOffs>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Dynamic_Data_Cfg_3</Name>
|
|
<Type GUID="{A78E8BA6-F454-F654-5B19-649E770A72C1}">ECAT_Meca500_PDO_A78E8BA6</Type>
|
|
<BitSize>32</BitSize>
|
|
<BitOffs>448</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{68C61672-EE3B-484A-4E14-81D50CAE9CAF}" AutoDeleteType="true" ForceIecDecl="true">Meca500_O_5A914209</Name>
|
|
<BitSize>2400</BitSize>
|
|
<SubItem>
|
|
<Name>SmPdoVariables_Meca500_SM_2</Name>
|
|
<Type GUID="{B68C3E66-FD13-503E-A412-43AF836EBD9E}">ECAT_Meca500_SM_B68C3E66</Type>
|
|
<BitSize>480</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
</SubItem>
|
|
</DataType>
|
|
<DataType>
|
|
<Name GUID="{68C61670-EE3B-484A-4E14-81D50CAE9CAF}" AutoDeleteType="true" ForceIecDecl="true">Meca500_5A914209</Name>
|
|
<BitSize>6720</BitSize>
|
|
<SubItem>
|
|
<Name>Meca500_Input</Name>
|
|
<Type GUID="{68C61671-EE3B-484A-4E14-81D50CAE9CAF}">Meca500_I_5A914209</Type>
|
|
<BitSize>4320</BitSize>
|
|
<BitOffs>0</BitOffs>
|
|
<Properties>
|
|
<Property>
|
|
<Name>TcDataArea</Name>
|
|
<Value>Input</Value>
|
|
</Property>
|
|
</Properties>
|
|
</SubItem>
|
|
<SubItem>
|
|
<Name>Meca500_Output</Name>
|
|
<Type GUID="{68C61672-EE3B-484A-4E14-81D50CAE9CAF}">Meca500_O_5A914209</Type>
|
|
<BitSize>2400</BitSize>
|
|
<BitOffs>4320</BitOffs>
|
|
<Properties>
|
|
<Property>
|
|
<Name>TcDataArea</Name>
|
|
<Value>Output</Value>
|
|
</Property>
|
|
</Properties>
|
|
</SubItem>
|
|
</DataType>
|
|
</DataTypes>
|
|
<ImageDatas>
|
|
<ImageData Id="1000">424de6000000000000007600000028000000100000000e000000010004000000000070000000c21e0000c21e000000000000000000006865630089786200c18c5600c89a64009f918300a9a7a600d7b69400e2d1bf00e2e2e200f4e9db00f7efe700f3efef00f7f7ef00f7f7f700fff7f700ffffff00ffffffffffffffffffffffffffffffff63fffff66fffff44327fffb639fff704723fff4626fff407f329f80522af800df726f505626f505ffc22a00ba22a00bfff62604ff62605ffff92358ff92358fffff337ffff337ffffff969ffff769fffffffffffffffffffffffffffffffffff</ImageData>
|
|
</ImageDatas>
|
|
<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>
|
|
<Image Id="11" AddrType="9" ImageType="3">
|
|
<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" CreateDeviceDataType="true" 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>
|
|
<Pdo Name="Robot Status" Index="#x1a00" Flags="#x0011" SyncMan="3">
|
|
<Entry Name="Busy" Index="#x6010" Sub="#x02">
|
|
<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>
|
|
<Entry Name="DiscardedCheckpointId" Index="#x6015" Sub="#x02">
|
|
<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>
|
|
<Entry Name="EOM" Index="#x6015" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<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>
|
|
</Pdo>
|
|
<Pdo Name="Joint Set" Index="#x1a02" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="SubIndex 001" Index="#x6030" Sub="#x01">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 002" Index="#x6030" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 003" Index="#x6030" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 004" Index="#x6030" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 005" Index="#x6030" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 006" Index="#x6030" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="End-Effector Pose" Index="#x1a03" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="SubIndex 001" Index="#x6031" Sub="#x01">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 002" Index="#x6031" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 003" Index="#x6031" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 004" Index="#x6031" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 005" Index="#x6031" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 006" Index="#x6031" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Configurations" Index="#x1a08" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Shoulder" Index="#x6046" Sub="#x01">
|
|
<Type>SINT</Type>
|
|
</Entry>
|
|
<Entry Name="Elbow" Index="#x6046" Sub="#x02">
|
|
<Type>SINT</Type>
|
|
</Entry>
|
|
<Entry Name="Wrist" Index="#x6046" Sub="#x03">
|
|
<Type>SINT</Type>
|
|
</Entry>
|
|
<Entry Name="Turn" Index="#x6046" Sub="#x04">
|
|
<Type>SINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="WRF" Index="#x1a09" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="SubIndex 001" Index="#x6050" Sub="#x01">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 002" Index="#x6050" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 003" Index="#x6050" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 004" Index="#x6050" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 005" Index="#x6050" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 006" Index="#x6050" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="TRF" Index="#x1a0a" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="SubIndex 001" Index="#x6051" Sub="#x01">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 002" Index="#x6051" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 003" Index="#x6051" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 004" Index="#x6051" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 005" Index="#x6051" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="SubIndex 006" Index="#x6051" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Robot Timestamp" Index="#x1a10" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Timestamp Seconds" Index="#x6060" Sub="#x01">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Timestamp Microseconds" Index="#x6060" Sub="#x02">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Dynamic Data Cycles" Index="#x6060" Sub="#x03">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Safety Status" Index="#x1a11" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Estop" Index="#x6065" Sub="#x01">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused2" Index="#x6065" Sub="#x02">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="PStop2" Index="#x6065" Sub="#x03">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused4" Index="#x6065" Sub="#x04">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused5" Index="#x6065" Sub="#x05">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused6" Index="#x6065" Sub="#x06">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused7" Index="#x6065" Sub="#x07">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Reboot" Index="#x6065" Sub="#x08">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused9" Index="#x6065" Sub="#x09">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused10" Index="#x6065" Sub="#x0a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Connection Dropped" Index="#x6065" Sub="#x0b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused12" Index="#x6065" Sub="#x0c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused13" Index="#x6065" Sub="#x0d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused14" Index="#x6065" Sub="#x0e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused15" Index="#x6065" Sub="#x0f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused16" Index="#x6065" Sub="#x10">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused17" Index="#x6065" Sub="#x11">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused18" Index="#x6065" Sub="#x12">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused19" Index="#x6065" Sub="#x13">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused20" Index="#x6065" Sub="#x14">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused21" Index="#x6065" Sub="#x15">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused22" Index="#x6065" Sub="#x16">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused23" Index="#x6065" Sub="#x17">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused24" Index="#x6065" Sub="#x18">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused25" Index="#x6065" Sub="#x19">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused26" Index="#x6065" Sub="#x1a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused27" Index="#x6065" Sub="#x1b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused28" Index="#x6065" Sub="#x1c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused29" Index="#x6065" Sub="#x1d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused30" Index="#x6065" Sub="#x1e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused31" Index="#x6065" Sub="#x1f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused32" Index="#x6065" Sub="#x20">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Estop Resettable" Index="#x6065" Sub="#x21">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused34" Index="#x6065" Sub="#x22">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="PStop2 Resettable" Index="#x6065" Sub="#x23">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused36" Index="#x6065" Sub="#x24">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused37" Index="#x6065" Sub="#x25">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused38" Index="#x6065" Sub="#x26">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused39" Index="#x6065" Sub="#x27">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Reboot Resettable" Index="#x6065" Sub="#x28">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused41" Index="#x6065" Sub="#x29">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused42" Index="#x6065" Sub="#x2a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Connection Dropped Resettable" Index="#x6065" Sub="#x2b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused44" Index="#x6065" Sub="#x2c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused45" Index="#x6065" Sub="#x2d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused46" Index="#x6065" Sub="#x2e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused47" Index="#x6065" Sub="#x2f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused48" Index="#x6065" Sub="#x30">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused49" Index="#x6065" Sub="#x31">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused50" Index="#x6065" Sub="#x32">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused51" Index="#x6065" Sub="#x33">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused52" Index="#x6065" Sub="#x34">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused53" Index="#x6065" Sub="#x35">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused54" Index="#x6065" Sub="#x36">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused55" Index="#x6065" Sub="#x37">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused56" Index="#x6065" Sub="#x38">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused57" Index="#x6065" Sub="#x39">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused58" Index="#x6065" Sub="#x3a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused59" Index="#x6065" Sub="#x3b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused60" Index="#x6065" Sub="#x3c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused61" Index="#x6065" Sub="#x3d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused62" Index="#x6065" Sub="#x3e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused63" Index="#x6065" Sub="#x3f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused64" Index="#x6065" Sub="#x40">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused65" Index="#x6065" Sub="#x41">
|
|
<Type>USINT</Type>
|
|
</Entry>
|
|
<Entry Name="Reset Ready" Index="#x6065" Sub="#x42">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Vmotor on" Index="#x6065" Sub="#x43">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused68" Index="#x6065" Sub="#x44">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused69" Index="#x6065" Sub="#x45">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused70" Index="#x6065" Sub="#x46">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused71" Index="#x6065" Sub="#x47">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused72" Index="#x6065" Sub="#x48">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused73" Index="#x6065" Sub="#x49">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused74" Index="#x6065" Sub="#x4a">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused75" Index="#x6065" Sub="#x4b">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused76" Index="#x6065" Sub="#x4c">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused77" Index="#x6065" Sub="#x4d">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused78" Index="#x6065" Sub="#x4e">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry Name="Unused79" Index="#x6065" Sub="#x4f">
|
|
<Type>BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
|
|
</Entry>
|
|
<Entry>
|
|
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Dynamic Data 0" Index="#x1a20" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Dynamic Type" Index="#x6070" Sub="#x01">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Value 0" Index="#x6070" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 1" Index="#x6070" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 2" Index="#x6070" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 3" Index="#x6070" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 4" Index="#x6070" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 5" Index="#x6070" Sub="#x07">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Dynamic Data 1" Index="#x1a21" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Dynamic Type" Index="#x6071" Sub="#x01">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Value 0" Index="#x6071" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 1" Index="#x6071" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 2" Index="#x6071" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 3" Index="#x6071" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 4" Index="#x6071" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 5" Index="#x6071" Sub="#x07">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Dynamic Data 2" Index="#x1a22" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Dynamic Type" Index="#x6072" Sub="#x01">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<Entry Name="Value 0" Index="#x6072" Sub="#x02">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 1" Index="#x6072" Sub="#x03">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 2" Index="#x6072" Sub="#x04">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 3" Index="#x6072" Sub="#x05">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 4" Index="#x6072" Sub="#x06">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
<Entry Name="Value 5" Index="#x6072" Sub="#x07">
|
|
<Type>REAL</Type>
|
|
</Entry>
|
|
</Pdo>
|
|
<Pdo Name="Dynamic Data 3" Index="#x1a23" Flags="#x0010" SyncMan="3">
|
|
<Entry Name="Dynamic Type" Index="#x6073" Sub="#x01">
|
|
<Type>UDINT</Type>
|
|
</Entry>
|
|
<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"/>
|
|
<PlcDataTypes>
|
|
<PlcDataType GUID="{68C61670-EE3B-484A-4E14-81D50CAE9CAF}">Meca500_5A914209</PlcDataType>
|
|
</PlcDataTypes>
|
|
</EtherCAT>
|
|
</Box>
|
|
<EtherCAT/>
|
|
</Device>
|
|
</TcSmItem>
|