<HTML dir=ltr><HEAD>
<META http-equiv=Content-Type content="text/html; charset=unicode">
<META content="MSHTML 6.00.6000.16705" name=GENERATOR></HEAD>
<BODY>
<DIV><FONT face=Arial color=#000000 size=2>Hello,</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>I am new to ethercat and etherlab. I am running into some errors I am attempting to modify the mini.c program for use with a temposonics sensor. The XML file provided by temposonic and my edits to the mini.c file are shown below. Loading the module reports that 'this operation is not permitted' According to the log the program gets as far as "Registering PDO entries" and then the master is released. But I don't get an error saying 'PDO entry registration failed!'. I introduced a prink statement after the registering pdo entries section but before #if EXTERNAL_MEMORY and that point in the program was not reached.</FONT></DIV>
<DIV><FONT face=Arial size=2><BR>-Thanks, Drew</FONT></DIV>
<DIV> </DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2><FONT color=#0000ff><SPAN class=m><?</SPAN><SPAN class=pi>xml version="1.0" </SPAN><SPAN class=m>?></SPAN></FONT>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>EtherCATInfo</SPAN><SPAN class=t> Version</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1.2</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT></DIV>
<DIV>
<DIV class=k><SPAN><A class=b style="VISIBILITY: hidden" onfocus=h() onclick="return false"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><!--</FONT></SPAN></SPAN> <SPAN class=ci id=""><PRE><FONT color=#888888 size=3>MTSSensor.com 12 Okt 2006 </FONT></PRE></SPAN><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <FONT color=#0000ff><SPAN class=m>--></SPAN>
<SCRIPT>f(clean);</SCRIPT>
</FONT> </DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Vendor</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Id</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>64</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Id</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>MTS Systems Corp</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>ImageData16x14</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>424DE6000000000000007600000028000000100000000E000000010004000000000070000000C40E0000C40E000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00999999999999999999999999999999999999999999999999FFFFFFFFFFFFFFFF9FFF9FFF9FFF99999FFF9FFF9FFFFFF99F9F9FFF9FFFF99999999FFF9FFF999F99F99FFF9FFF9FFF9FFF9F99999F9999FFFFFFFFFFFFFFFF999999999999999999999999999999999999999999999999</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>ImageData16x14</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Vendor</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Descriptions</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Groups</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Group</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Type</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>MTSDevice</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Type</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Name</SPAN><SPAN class=t> LcId</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1033</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>MTS Device</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>ImageData16x14</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>424DE6000000000000007600000028000000100000000E000000010004000000000070000000C40E0000C40E000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF77711111117FFFF877711111117FFFF87771111111777FF8777111111177788088899999998778878889FFFF99877FF78889FFFF998FFFFF88899999998FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>ImageData16x14</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Group</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Groups</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Devices</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Device</SPAN><SPAN class=t> Physics</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>YY</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Type</SPAN><SPAN class=t> ProductCode</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x26483052</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> RevisionNo</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x03020101</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>MTS Temposonics</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Type</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV class=c><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Name</SPAN><SPAN class=t> LcId</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1033</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT></DIV>
<DIV>
<DIV class=k><SPAN><A class=b style="VISIBILITY: hidden" onfocus=h() onclick="return false"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><![CDATA[</FONT></SPAN></SPAN> <SPAN class=di id=""><PRE><FONT size=3>MTS R-Series EtherCat (1 Magnet)</FONT></PRE></SPAN><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <FONT color=#0000ff><SPAN class=m>]]></SPAN>
<SCRIPT>f(clean);</SCRIPT>
</FONT> </DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Name</SPAN><SPAN class=t> LcId</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1031</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT></DIV>
<DIV>
<DIV class=k><SPAN><A class=b style="VISIBILITY: hidden" onfocus=h() onclick="return false"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><![CDATA[</FONT></SPAN></SPAN> <SPAN class=di id=""><PRE><FONT size=3>MTS R-Series EtherCat (1 Magnet)</FONT></PRE></SPAN><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <FONT color=#0000ff><SPAN class=m>]]></SPAN>
<SCRIPT>f(clean);</SCRIPT>
</FONT> </DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>GroupType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>MTSDevice</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>GroupType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Fmmu</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Inputs</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Fmmu</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Sm</SPAN><SPAN class=t> MinSize</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>32</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> MaxSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>256</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> DefaultSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>192</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> StartAddress</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x1800</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> ControlByte</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x26</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> Enable</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>MBoxOut</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Sm</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Sm</SPAN><SPAN class=t> MinSize</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>32</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> MaxSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>256</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> DefaultSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>192</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> StartAddress</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x1C00</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> ControlByte</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x22</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> Enable</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>MBoxIn</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Sm</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Sm</SPAN><SPAN class=t> StartAddress</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x1000</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> ControlByte</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x64</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> Enable</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>0</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>Outputs</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Sm</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>Sm</SPAN><SPAN class=t> StartAddress</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x1400</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> ControlByte</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>#x20</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> Enable</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT><SPAN class=tx><STRONG>Inputs</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Sm</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><FONT color=#990000><SPAN class=t>TxPdo</SPAN><SPAN class=t> Fixed</SPAN></FONT><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>0</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> Sm</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>3</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m>></SPAN></FONT></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>#x1A00</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Inputs</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>#x3101</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>1</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>16</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Status 1</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>UINT</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>#x3101</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>2</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>32</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Position 1</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>UDINT</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>#x3101</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Index</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>3</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>SubIndex</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>32</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>BitLen</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Velocity 1</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>DINT</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>DataType</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Entry</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>TxPdo</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Mailbox</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>CoE</FONT></SPAN> <SPAN class=t><FONT color=#990000>SdoInfo</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> PdoAssign</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>1</B><SPAN class=m><FONT color=#0000ff>"</FONT></SPAN><SPAN class=t><FONT color=#990000> PdoConfig</FONT></SPAN><SPAN class=m><FONT color=#0000ff>="</FONT></SPAN><B>0</B><FONT color=#0000ff><SPAN class=m>"</SPAN><SPAN class=m> /></SPAN></FONT> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>FoE</FONT></SPAN> <SPAN class=m><FONT color=#0000ff>/></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Mailbox</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Dc</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>OpMode</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Distributed Clocks</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Name</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Desc</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>Distributed Clocks</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Desc</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>AssignActivate</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>#x0000</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>AssignActivate</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>OpMode</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Dc</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>ESC</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Reg0400</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>25000</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Reg0400</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Reg0420</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>100</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Reg0420</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>ESC</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV></DIV></DIV>
<DIV class=e>
<DIV class=c style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><A class=b onfocus=h() onclick="return false" href="file:///C:/Documents%20and%20Settings/kaos17/Desktop/MTS%20EtherCat.xml#"><STRONG><FONT face="Courier New" color=#ff0000>-</FONT></STRONG></A> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>Eeprom</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>ByteSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>128</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>ByteSize</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>ConfigData</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>05000304</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>ConfigData</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV class=e>
<DIV style="MARGIN-LEFT: 1em; TEXT-INDENT: -2em"><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff><</FONT></SPAN><SPAN class=t><FONT color=#990000>BootStrap</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN><SPAN class=tx><STRONG>0010140200181402</STRONG></SPAN><SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>BootStrap</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN> </DIV></DIV>
<DIV><SPAN class=b><STRONG><FONT face="Courier New" color=#ff0000> </FONT></STRONG></SPAN> <SPAN class=m><FONT color=#0000ff></</FONT></SPAN><SPAN class=t><FONT color=#990000>Eeprom</FONT></SPAN><SPAN class=m><FONT color=#0000ff>></FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff></FONT></SPAN> </DIV>
<DIV><SPAN class=m><FONT color=#0000ff>// process data<BR>static uint8_t *domain1_pd; // process data memory</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>#define AnaInSlavePos 0, 1<BR>#define AnaOutSlavePos 0, 2<BR>#define DigOutSlavePos 0, 3</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>#define MTS 0x00000040, 0x26483052</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>// offsets for PDO entries<BR>static unsigned int off_ana_in;<BR>static unsigned int off_ana_out;<BR>static unsigned int off_dig_out;</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>const static ec_pdo_entry_reg_t domain1_regs[] = {</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff> {AnaInSlavePos, MTS, 0x3101, 16, &off_ana_in},<BR> {}<BR>};</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>static unsigned int counter = 0;<BR>static unsigned int blink = 0;</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>/*****************************************************************************/</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>#if CONFIGURE_PDOS</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>// Analog in --------------------------</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>static ec_pdo_entry_info_t MTS_pdo_entries[] = {<BR> {0x3101, 1, 16}, // channel 1 status<BR> {0x3101, 2, 32}, // channel 2 value<BR> {0x3101, 3, 32}, // channel 3 value</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>};</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>static ec_pdo_info_t MTS_pdos[] = {<BR> {0x1A00, 3, MTS_pdo_entries}<BR>};</FONT></SPAN></DIV>
<DIV><SPAN class=m><FONT color=#0000ff>static ec_sync_info_t MTS_syncs[] = {<BR> {1, EC_DIR_INPUT, 1, MTS_pdos},<BR> {0xff}<BR>};</FONT></SPAN></DIV><SPAN class=m><FONT color=#0000ff>
<DIV><BR>#endif</DIV>
<DIV> </DIV>
<DIV>int __init init_mini_module(void)<BR>{<BR>#if CONFIGURE_PDOS<BR> ec_slave_config_t *sc;<BR>#endif<BR>#if EXTERNAL_MEMORY<BR> unsigned int size;<BR>#endif<BR> <BR> printk(KERN_INFO PFX "Starting...\n");</DIV>
<DIV> if (!(master = ecrt_request_master(0))) {<BR> printk(KERN_ERR PFX "Requesting master 0 failed!\n");<BR> goto out_return;<BR> }</DIV>
<DIV> ecrt_master_callbacks(master, request_lock, release_lock, NULL);</DIV>
<DIV> printk(KERN_INFO PFX "Registering domain...\n");<BR> if (!(domain1 = ecrt_master_create_domain(master))) {<BR> printk(KERN_ERR PFX "Domain creation failed!\n");<BR> goto out_release_master;<BR> }</DIV>
<DIV> if (!(sc_ana_in = ecrt_master_slave_config(<BR> master, AnaInSlavePos, MTS))) {<BR> printk(KERN_ERR PFX "Failed to get slave configuration.\n");<BR> goto out_release_master;<BR> }<BR></DIV>
<DIV> </DIV>
<DIV> </DIV>
<DIV></FONT></SPAN> </DIV>
<DIV><SPAN class=m><FONT color=#0000ff></FONT></SPAN> </DIV>
<DIV><SPAN class=m><FONT color=#0000ff></FONT></SPAN> </DIV>
<DIV><SPAN class=m><FONT color=#0000ff></FONT></SPAN> </DIV></DIV></DIV></DIV></DIV></DIV></DIV></DIV></DIV></DIV></DIV></FONT></DIV></BODY></HTML>