Hal to Registers. Come in, Registers. Over.

reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat -p0 -t uint16 upload 0x6040 0 # control register 0x0000 0 reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat -p0 -t uint16 upload 0x6041 0 # status register 0x0650 1616 reid@charles1:~/linuxcnc-dev/configs/b3pr$ halcmd show pin lcec Component Pins: Owner   Type  Dir         Value  Name     43  bit   OUT         FALSE  lcec.0.all-op     43  bit   IN           TRUE  lcec.0.hip.control-0 <== lcec.j1.control.switch-on     43  bit   IN           TRUE  lcec.0.hip.control-1 <== lcec.j1.control.enable-voltage     43  bit   IN          FALSE  lcec.0.hip.control-10     43  bit   IN          FALSE  lcec.0.hip.control-11     43  bit   IN          FALSE  lcec.0.hip.control-12     43  bit   IN          FALSE  lcec.0.hip.control-13     43  bit   IN          FALSE  lcec.0.hip.control-14     43  bit   IN          FALSE  lcec.0.hip.control-15     43  bit   IN           TRUE  lcec.0.hip.control-2 <== lcec.j1.control.quick-stop     43  bit   IN          FALSE  lcec.0.hip.control-3 <== motion-enable     43  bit   IN          FALSE  lcec.0.hip.control-4     43  bit   IN          FALSE  lcec.0.hip.control-5     43  bit   IN          FALSE  lcec.0.hip.control-6     43  bit   IN          FALSE  lcec.0.hip.control-7 <== lcec.j1.control.fault-reset     43  bit   IN          FALSE  lcec.0.hip.control-8     43  bit   IN          FALSE  lcec.0.hip.control-9     43  s32   OUT             0  lcec.0.hip.pos-act ==> pos-fb-s32.j1     43  s32   IN              0  lcec.0.hip.pos-cmd <== pos-cmd-s32.j1     43  bit   OUT         FALSE  lcec.0.hip.slave-online     43  bit   OUT         FALSE  lcec.0.hip.slave-oper     43  bit   OUT         FALSE  lcec.0.hip.slave-state-init     43  bit   OUT         FALSE  lcec.0.hip.slave-state-op     43  bit   OUT         FALSE  lcec.0.hip.slave-state-preop     43  bit   OUT         FALSE  lcec.0.hip.slave-state-safeop     43  bit   OUT         FALSE  lcec.0.hip.status-0     43  bit   OUT         FALSE  lcec.0.hip.status-1     43  bit   OUT         FALSE  lcec.0.hip.status-10     43  bit   OUT         FALSE  lcec.0.hip.status-11     43  bit   OUT         FALSE  lcec.0.hip.status-12     43  bit   OUT         FALSE  lcec.0.hip.status-13     43  bit   OUT         FALSE  lcec.0.hip.status-14     43  bit   OUT         FALSE  lcec.0.hip.status-15     43  bit   OUT         FALSE  lcec.0.hip.status-2     43  bit   OUT         FALSE  lcec.0.hip.status-3     43  bit   OUT         FALSE  lcec.0.hip.status-4     43  bit   OUT         FALSE  lcec.0.hip.status-5     43  bit   OUT         FALSE  lcec.0.hip.status-6     43  bit   OUT         FALSE  lcec.0.hip.status-7     43  bit   OUT         FALSE  lcec.0.hip.status-8     43  bit   OUT         FALSE  lcec.0.hip.status-9     43  s32   OUT             0  lcec.0.hip.torq-act     43  s32   IN              0  lcec.0.hip.torq-offset     43  bit   OUT          TRUE  lcec.0.link-up     43  s32   OUT             0  lcec.0.read.time     43  u32   OUT    0x00000001  lcec.0.slaves-responding     43  bit   OUT         FALSE  lcec.0.state-init     43  bit   OUT         FALSE  lcec.0.state-op     43  bit   OUT          TRUE  lcec.0.state-preop     43  bit   OUT         FALSE  lcec.0.state-safeop     43  s32   OUT             0  lcec.0.write.time     43  bit   OUT         FALSE  lcec.all-op     40  u32   OUT    0x00000001  lcec.conf.master-count     40  u32   OUT    0x00000001  lcec.conf.slave-count     43  bit   OUT          TRUE  lcec.link-up     43  s32   OUT         17506  lcec.read-all.time     43  u32   OUT    0x00000001  lcec.slaves-responding     43  bit   OUT         FALSE  lcec.state-init     43  bit   OUT         FALSE  lcec.state-op     43  bit   OUT          TRUE  lcec.state-preop     43  bit   OUT         FALSE  lcec.state-safeop     43  s32   OUT         29960  lcec.write-all.time reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat slaves 0  0:0  PREOP  E  ESTUN ProNet

loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadusr -W lcec_conf b3pr_ethercat.xml loadrt lcec addf lcec.read-all servo-thread addf motion-command-handler servo-thread addf motion-controller      servo-thread addf lcec.write-all servo-thread

<masters>   <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">          <slave idx="0" type="generic" vid="1546" configPdos="true" name="hip">       <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>                <syncManager idx="0" dir="out"/>       <syncManager idx="1" dir="in"/>       <syncManager idx="2" dir="out">     <pdo idx="1602">     <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="control"     halType="bit"/>     <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="pos-cmd"     halType="s32"/>     <pdoEntry idx="60B2" subIdx="00" bitLen="16" halPin="torq-offset" halType="s32"/>     </pdo>       </syncManager>       <syncManager idx="3" dir="in">     <pdo idx="1A02">         <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="status"   halType="bit"/>     <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos-act"  halType="S32"/>     <pdoEntry idx="6077" subIdx="00" bitLen="16" halPin="torq-act" halType="S32"/>     </pdo>       </syncManager>     </slave>   </master> </masters>

#!/bin/bash # this script configures PDO mapping for a Pronet drive using ethercat commands. # Based on akd_free_pdo.sh from Sebastien BLANCHET on the linuxcnc ethercat forum. Should be in ~/Downloads. # See "PDO mapping process" on p12 of Estun ethercat manual. POS=-p0 # joint 1 'hip' # clear RxPDO ethercat $POS --type uint8 download 0x1C12 0 0 # clear RxPDO counter ethercat $POS --type uint8 download 0x1600 0 0 # clear RxPDO0 ethercat $POS --type uint8 download 0x1601 0 0 # clear RxPDO1 ethercat $POS --type uint8 download 0x1602 0 0 # clear RxPDO2 ethercat $POS --type uint8 download 0x1603 0 0 # clear RxPDO3 # define RxPdo ethercat $POS --type uint32 download 0x1602 1 0x60400010 # control word (index+subindex+bitlength) ethercat $POS --type uint32 download 0x1602 2 0x607A0020 # pos-cmd ethercat $POS --type uint32 download 0x1602 3 0x60B20010 # torque-offset ethercat $POS --type uint8  download 0x1602 0 3          # number of var in this PDO ethercat $POS --type uint16 download 0x1C12 1 0x1602 # list RxPdo ethercat $POS --type uint8  download 0x1C12 0 1 # number of RxPdo #--------------------------------------- # clear TxPdo ethercat $POS --type uint8 download 0x1C13 0 0  # clear TxPDO counter ethercat $POS --type uint8 download 0x1A00 0 0  # clear TxPDO0 ethercat $POS --type uint8 download 0x1A01 0 0  # clear TxPDO1 ethercat $POS --type uint8 download 0x1A02 0 0  # clear TxPDO2 ethercat $POS --type uint8 download 0x1A03 0 0  # clear TxPDO3 # define TxPdo ethercat $POS --type uint32 download 0x1A02 1 0x60410010 # status word (index+subindex+bitlength) ethercat $POS --type uint32 download 0x1A02 2 0x60640020 # pos-act ethercat $POS --type uint32 download 0x1A02 3 0x60770010 # torque-actual ethercat $POS --type uint8  download 0x1A02 0 3          # number of var in this PDO ethercat $POS --type uint16  download 0x1C13 1 0x1A02 # list TxPdo ethercat $POS --type uint8   download 0x1C13 0 1 # number of TxPdo ethercat rescan sleep 5 ethercat cstruct $POS #--------------------------------------- # reset fault ethercat $POS -t uint16 download 0x6040 0 0x0080  # rising edge ethercat $POS -t uint16 download 0x6040 0 0x0000 # mode-of-operation 8=CSV ethercat $POS --type uint8   download 0x6060 0 8        # velocity-offset = 0 ethercat $POS --type int32   download 0x60B1 0 0        # quick-stop-option-code = 0: motor stops freely ethercat $POS --type uint16  download 0x605A 0 0 echo " STATUS word: `ethercat $POS -t uint16 upload 0x6041 0 `" 

reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat slaves 0  0:0  PREOP  +  ESTUN ProNet reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat cstruct /* Master 0, Slave 0, "ESTUN ProNet"  * Vendor ID:       0x0000060a  * Product code:    0x00000001  * Revision number: 0x00000001  */ ec_pdo_entry_info_t slave_0_pdo_entries[] = {     {0x6040, 0x00, 16},     {0x607a, 0x00, 32},     {0x60b2, 0x00, 16},     {0x6041, 0x00, 16},     {0x6064, 0x00, 32},     {0x6077, 0x00, 16}, }; ec_pdo_info_t slave_0_pdos[] = {     {0x1602, 3, slave_0_pdo_entries + 0},     {0x1a02, 3, slave_0_pdo_entries + 3}, }; ec_sync_info_t slave_0_syncs[] = {     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},     {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},     {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},     {0xff} }; reid@charles1:~/linuxcnc-dev/configs/b3pr$ ethercat pdos SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x36, Enable 1 SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x32, Enable 1 SM2: PhysAddr 0x1100, DefaultSize    6, ControlRegister 0x74, Enable 1   RxPDO 0x1602 ""     PDO entry 0x6040:00, 16 bit, ""     PDO entry 0x607a:00, 32 bit, ""     PDO entry 0x60b2:00, 16 bit, "" SM3: PhysAddr 0x1d00, DefaultSize    6, ControlRegister 0x30, Enable 1   TxPDO 0x1a02 ""     PDO entry 0x6041:00, 16 bit, ""     PDO entry 0x6064:00, 32 bit, ""     PDO entry 0x6077:00, 16 bit, ""     

# when I boot (and the ethercat master is started): # (I've pared this listing way back) # I think this stuff might be normal ? reid@charles1:~/linuxcnc-dev/configs/b3pr$ sudo dmesg  [   14.683973] ec_master: loading out-of-tree module taints kernel. [   14.684280] ec_master: module verification failed: signature and/or required key missing - tainting kernel [   14.693550] EtherCAT: Master driver 1.5.2 unknown [   14.693640] EtherCAT: 1 master waiting for devices. [   14.715881] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown [   14.715902] EtherCAT: Accepting 68:05:CA:8A:B4:79 as main device for master 0. [   14.715931] ec_generic: Binding socket to interface 3 (enp11s2). [   14.748730] EtherCAT 0: Starting EtherCAT-IDLE thread. # when I power up my servo drive: # (I think these errors are because the drive powers up un-configured ?) reid@charles1:~/linuxcnc-dev/configs/b3pr$ sudo dmesg  [347388.517587] e1000: enp11s2 NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX [347388.525123] EtherCAT 0: Link state of ecm0 changed to UP. [347388.533112] EtherCAT 0: 1 slave(s) responding on main device. [347388.533115] EtherCAT 0: Slave states on main device: INIT. [347388.533487] EtherCAT 0: Scanning bus. [347388.588712] EtherCAT ERROR 0-0: SDO upload 0x0000:00 aborted. [347388.588715] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory". [347388.588716] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries. [347388.588717] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x0000. [347388.607462] EtherCAT ERROR 0-0: SDO upload 0x0000:00 aborted. [347388.607464] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory". [347388.607465] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries. [347388.607466] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x0000. [347388.607468] EtherCAT 0: Bus scanning completed in 72 ms. [347388.607469] EtherCAT 0: Using slave 0 as DC reference clock. [347388.613165] EtherCAT 0: Slave states on main device: PREOP. # when I configure my drive using the script above: reid@charles1:~/linuxcnc-dev/configs/b3pr$ sudo dmesg  [347555.253993] EtherCAT 0: Scanning bus. [347555.303228] EtherCAT 0: Bus scanning completed in 48 ms. [347555.303229] EtherCAT 0: Using slave 0 as DC reference clock. # now that the drive is powered on and configured, I start linuxcnc: reid@charles1:~/linuxcnc-dev/configs/b3pr$ sudo dmesg  [347619.191020] EtherCAT: Requesting master 0... [347619.191023] EtherCAT: Successfully requested master 0. [347619.191429] EtherCAT 0: Domain0: Logical address 0x00000000, 16 byte, expected working counter 3. [347619.191431] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 16 byte, type LRW. [347619.191439] EtherCAT 0: Master thread exited. [347619.191441] EtherCAT 0: Starting EtherCAT-OP thread. [347619.191475] EtherCAT WARNING 0: 112 datagrams TIMED OUT! [347622.741162] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [347622.742159] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration". [347622.744157] EtherCAT 0-0: Acknowledged state PREOP.

<slave idx="1" type="generic" vid="0000006A" pid="00414b44" configPdos="true"> <!-- Clear SM PDOs --> <sdoConfig idx="1C12" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Clear SM PDOs --> <sdoConfig idx="1C13" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Clear RX PDO1 --> <sdoConfig idx="1A00" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Map status word to RX-PDO1 --> <!-- 0x6041 0010 --> <sdoConfig idx="1A00" subIdx="01"> <sdoDataRaw data="10 00 41 60"/> </sdoConfig> <!-- Map position feedback to RX-PDO1 --> <!-- 0x6064 0020 --> <sdoConfig idx="1A00" subIdx="02"> <sdoDataRaw data="20 00 64 60"/> </sdoConfig> <!-- Set RX-PDO1 count to 2 --> <sdoConfig idx="1A00" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Clear RX-PDO2 --> <sdoConfig idx="1A01" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Map Analog Input to RX-PDO2 --> <!-- 0x3470 0410 --> <sdoConfig idx="1A01" subIdx="01"> <sdoDataRaw data="10 04 70 34"/> </sdoConfig> <!-- Map Digital Inputs to RX-PDO2 --> <!-- 0x60FD 0020 --> <sdoConfig idx="1A01" subIdx="02"> <sdoDataRaw data="20 00 FD 60"/> </sdoConfig> <!-- Set RX-PDO2 count to 2 --> <sdoConfig idx="1A01" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Clear RX-PDO3 --> <sdoConfig idx="1A02" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Clear RX-PDO4 --> <sdoConfig idx="1A03" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Clear TX-PDO1 --> <sdoConfig idx="1600" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Map control word to TX-PDO1 --> <!-- 0x6040 0010 --> <sdoConfig idx="1600" subIdx="01"> <sdoDataRaw data="10 00 40 60"/> </sdoConfig> <!-- Map position command to TX-PDO1 --> <!-- 0x607A 0020 --> <sdoConfig idx="1600" subIdx="02"> <sdoDataRaw data="20 00 7A 60"/> </sdoConfig> <!-- Set TX-PDO1 count to 2 --> <sdoConfig idx="1600" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Clear TX-PDO2 --> <sdoConfig idx="1601" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Map Analog Out to TX-PDO2 --> <!-- 0x3470 0310 --> <sdoConfig idx="1601" subIdx="01"> <sdoDataRaw data="10 03 70 34"/> </sdoConfig> <!-- Map Digital Out to TX-PDO2 --> <!-- 0x60FE 0120 --> <sdoConfig idx="1601" subIdx="02"> <sdoDataRaw data="20 01 FE 60"/> </sdoConfig> <!-- Set TX-PDO2 count to 2 --> <sdoConfig idx="1601" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Clear TX-PDO3 --> <sdoConfig idx="1602" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Clear TX-PDO4 --> <sdoConfig idx="1603" subIdx="00"> <sdoDataRaw data="00"/> </sdoConfig> <!-- Download PDO 0x1C12:01 index --> <!-- 0x1600 --> <sdoConfig idx="1C12" subIdx="01"> <sdoDataRaw data="00 16"/> </sdoConfig> <!-- Download PDO 0x1C12:02 index --> <!-- 0x1601 --> <sdoConfig idx="1C12" subIdx="02"> <sdoDataRaw data="01 16"/> </sdoConfig> <!-- Download PDO 0x1C12 count --> <sdoConfig idx="1C12" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Download PDO 0x1C13:01 index --> <!-- 0x1A00 --> <sdoConfig idx="1C13" subIdx="01"> <sdoDataRaw data="00 1A"/> </sdoConfig> <!-- Download PDO 0x1C13:02 index --> <!-- 0x1A01 --> <sdoConfig idx="1C13" subIdx="02"> <sdoDataRaw data="01 1A"/> </sdoConfig> <!-- Download PDO 0x1C13 count --> <sdoConfig idx="1C13" subIdx="00"> <sdoDataRaw data="02"/> </sdoConfig> <!-- Set OpMode to Cyclic Synchronous Position --> <sdoConfig idx="6060" subIdx="00"> <sdoDataRaw data="08"/> </sdoConfig> <!-- Set Cycle Time --> <sdoConfig idx="60C2" subIdx="01"> <sdoDataRaw data="01"/> </sdoConfig> <!-- Set Cycle exp --> <sdoConfig idx="60C2" subIdx="02"> <sdoDataRaw data="FD"/> </sdoConfig> <!-- Set Digital Output mask --> <!-- 0x0003 0001 --> <sdoConfig idx="60FE" subIdx="02"> <sdoDataRaw data="01 00 03 00"/> </sdoConfig> <!-- Set FBUS.PARAM05, enable DS402 scaling --> <!-- 0x0000 0110 --> <sdoConfig idx="36E9" subIdx="00"> <sdoDataRaw data="10 01 00 00"/> </sdoConfig> <!-- Set Motor Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6091" subIdx="01"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <!-- Set Shaft Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6091" subIdx="02"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <!-- Feed (32 * 10,000 counts/pole-pair) --> <!-- 0x0004 E200 --> <!-- <sdoConfig idx="6092" subIdx="01"> <sdoDataRaw data="00 E2 04 00"/> </sdoConfig> --> <!-- Feed (32*1,000,000 counts/pole) --> <!-- 0x01E8 4800 --> <sdoConfig idx="6092" subIdx="01"> <sdoDataRaw data="00 48 E8 01"/> </sdoConfig> <!-- Set Shaft Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6092" subIdx="02"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <syncManager idx="0" dir="out"> </syncManager> <syncManager idx="1" dir="in"> </syncManager> <syncManager idx="2" dir="out"> <pdo idx="1600"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="TxControlWord" halType="u32"/> <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TxPositionCommand" halType="u32"/> </pdo> <pdo idx="1601"> <pdoEntry idx="3470" subIdx="03" bitLen="16" halPin="AnalogOutput" halType="float"/> <pdoEntry idx="60FE" subIdx="01" bitLen="32" halType="complex"> <complexEntry bitLen="16"/> <complexEntry bitLen="1" halPin="DOUT1" halType="bit"/> <complexEntry bitLen="1" halPin="DOUT2" halType="bit"/> <complexEntry bitLen="14"/> </pdoEntry> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1a00"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="RxStatusWord" halType="u32"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="RxPositionFeedback" halType="float"/> </pdo> <pdo idx="1a01"> <pdoEntry idx="3470" subIdx="04" bitLen="16" halPin="AnalogInput" halType="float"/> <pdoEntry idx="60FD" subIdx="00" bitLen="32" halType="complex"> <!-- Not sure why, but the DINs are in the 17-24 bit range --> <complexEntry bitLen="16"/> <complexEntry bitLen="1" halPin="DIN1" halType="bit"/> <complexEntry bitLen="1" halPin="DIN2" halType="bit"/> <complexEntry bitLen="1" halPin="DIN3" halType="bit"/> <complexEntry bitLen="1" halPin="DIN4" halType="bit"/> <complexEntry bitLen="1" halPin="DIN5" halType="bit"/> <complexEntry bitLen="1" halPin="DIN6" halType="bit"/> <complexEntry bitLen="1" halPin="DIN7" halType="bit"/> <complexEntry bitLen="1" halPin="DIN8" halType="bit"/> <complexEntry bitLen="8"/> </pdoEntry> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="125000"/> </slave>

<slave idx="1" type="generic" vid="0000006A" pid="00414b44" configPdos="true"> <!-- Set OpMode to Cyclic Synchronous Position --> <sdoConfig idx="6060" subIdx="00"> <sdoDataRaw data="08"/> </sdoConfig> <!-- Set Cycle Time --> <sdoConfig idx="60C2" subIdx="01"> <sdoDataRaw data="01"/> </sdoConfig> <!-- Set Cycle exp --> <sdoConfig idx="60C2" subIdx="02"> <sdoDataRaw data="FD"/> </sdoConfig> <!-- Set Digital Output mask --> <!-- 0x0003 0001 --> <sdoConfig idx="60FE" subIdx="02"> <sdoDataRaw data="01 00 03 00"/> </sdoConfig> <!-- Set FBUS.PARAM05, enable DS402 scaling --> <!-- 0x0000 0110 --> <sdoConfig idx="36E9" subIdx="00"> <sdoDataRaw data="10 01 00 00"/> </sdoConfig> <!-- Set Motor Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6091" subIdx="01"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <!-- Set Shaft Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6091" subIdx="02"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <sdoConfig idx="6092" subIdx="01"> <sdoDataRaw data="00 48 E8 01"/> </sdoConfig> <!-- Set Shaft Revolutions --> <!-- 0x0000 0001 --> <sdoConfig idx="6092" subIdx="02"> <sdoDataRaw data="01 00 00 00"/> </sdoConfig> <syncManager idx="0" dir="out"> </syncManager> <syncManager idx="1" dir="in"> </syncManager> <syncManager idx="2" dir="out"> <pdo idx="1600"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="TxControlWord" halType="u32"/> <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TxPositionCommand" halType="u32"/> </pdo> <pdo idx="1601"> <pdoEntry idx="3470" subIdx="03" bitLen="16" halPin="AnalogOutput" halType="float"/> <pdoEntry idx="60FE" subIdx="01" bitLen="32" halType="complex"> <complexEntry bitLen="16"/> <complexEntry bitLen="1" halPin="DOUT1" halType="bit"/> <complexEntry bitLen="1" halPin="DOUT2" halType="bit"/> <complexEntry bitLen="14"/> </pdoEntry> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1a00"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="RxStatusWord" halType="u32"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="RxPositionFeedback" halType="float"/> </pdo> <pdo idx="1a01"> <pdoEntry idx="3470" subIdx="04" bitLen="16" halPin="AnalogInput" halType="float"/> <pdoEntry idx="60FD" subIdx="00" bitLen="32" halType="complex"> <!-- Not sure why, but the DINs are in the 17-24 bit range --> <complexEntry bitLen="16"/> <complexEntry bitLen="1" halPin="DIN1" halType="bit"/> <complexEntry bitLen="1" halPin="DIN2" halType="bit"/> <complexEntry bitLen="1" halPin="DIN3" halType="bit"/> <complexEntry bitLen="1" halPin="DIN4" halType="bit"/> <complexEntry bitLen="1" halPin="DIN5" halType="bit"/> <complexEntry bitLen="1" halPin="DIN6" halType="bit"/> <complexEntry bitLen="1" halPin="DIN7" halType="bit"/> <complexEntry bitLen="1" halPin="DIN8" halType="bit"/> <complexEntry bitLen="8"/> </pdoEntry> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="125000"/> </slave>