[etherlab-users] Adding index:subindex to PDO set for SyncManager
Jun Yuan
j.yuan at rtleaders.com
Wed Jan 15 20:43:08 CET 2014
Hi,
0x8000:04 "Output voltage" is obviously for voltage setting. And you
want to have current control, right? I don't think, you can map
0x8000:0x04 as PDO, since it's not enabled by Beckhoff. Try to use
0x7000:0x11, r-r-r-, uint16, 16 bit, "Output current". This one can be
mapped.
Regards,
Jun
On Wed, Jan 15, 2014 at 5:36 PM, <ronaldo.mercado at diamond.ac.uk> wrote:
> Hello,
>
>
>
> I am trying to interfacing to a EL2595 device from Beckhoff.
>
>
>
> Beckhoff haven't yet published many details on this module
> http://beckhoff.com/el2595/
>
>
>
> I found that I can use “sdo download” to control the how much current goes
> to an LED by writing to index 0x8000, subindex 4.
>
>
>
> This is not mapped to a PDO by default.
>
>
>
> Is it possible to map the sdo entry to the set of PDOs in SyncMaster2?
>
>
>
> I am attempting this because the control system driver [1] I'm using can
> only write to PDOs, not SDOs.
>
>
>
> The attempt I made fails when calling ecrt_slave_config_reg_pdo_entry which
> return –ENOENT.
>
>
>
> I’m using etherlab 1-5-2.
>
>
>
> The output of "pdos" and "sdos" commands are pasted at the end.
>
> The relevant SDO list section for the question below is
>
>
>
> SDO 0x8000, "DOX Settings Ch.1"
>
> 0x8000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x8000:01, rwrwrw, type 0000, 16 bit, "SubIndex 001"
>
> 0x8000:02, rwrwrw, uint16, 16 bit, "Hold current"
>
> 0x8000:03, rwrwrw, uint16, 16 bit, "Supply voltage"
>
> 0x8000:04, rwrwrw, uint16, 16 bit, "Output voltage"
>
>
>
> Thanks.
>
>
>
> RM
>
>
>
> [1] http://controls.diamond.ac.uk/downloads/support/ethercat/
>
>
>
> # ethercat -p 1 pdos
>
> SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
>
> SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
>
> SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x24, Enable 1
>
> RxPDO 0x1600 "DOX RxPDO-Map Control"
>
> PDO entry 0x0000:00, 1 bit, "Gap"
>
> PDO entry 0x7000:02, 1 bit, "Output"
>
> PDO entry 0x0000:00, 1 bit, "Gap"
>
> PDO entry 0x7000:04, 1 bit, "Input trigger enable"
>
> PDO entry 0x0000:00, 3 bit, "Gap"
>
> PDO entry 0x7000:08, 1 bit, "Reset"
>
> PDO entry 0x0000:00, 8 bit, "Gap"
>
> SM3: PhysAddr 0x1200, DefaultSize 2, ControlRegister 0x20, Enable 1
>
> TxPDO 0x1a00 "DOX TxPDO-Map Status"
>
> PDO entry 0x6000:01, 1 bit, "Ready to activate"
>
> PDO entry 0x6000:02, 1 bit, "Output active"
>
> PDO entry 0x0000:00, 4 bit, "Gap"
>
> PDO entry 0x6000:07, 1 bit, "Warning"
>
> PDO entry 0x6000:08, 1 bit, "Error"
>
> PDO entry 0x0000:00, 3 bit, "Gap"
>
> PDO entry 0x6000:0c, 1 bit, "Digital input"
>
> PDO entry 0x0000:00, 3 bit, "Gap"
>
> PDO entry 0x6000:10, 1 bit, "TxPDO Toggle"
>
> The current control I found to be in an sdo
>
> # ethercat -p 1 sdos
>
> SDO 0x1000, "Device type"
>
> 0x1000:00, r-r-r-, uint32, 32 bit, "Device type"
>
> SDO 0x1008, "Device name"
>
> 0x1008:00, r-r-r-, string, 48 bit, "Device name"
>
> SDO 0x1009, "Hardware version"
>
> 0x1009:00, r-r-r-, string, 16 bit, "Hardware version"
>
> SDO 0x100a, "Software version"
>
> 0x100a:00, r-r-r-, string, 16 bit, "Software version"
>
> SDO 0x1011, "Restore default parameters"
>
> 0x1011:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1011:01, rwrwrw, uint32, 32 bit, "SubIndex 001"
>
> SDO 0x1018, "Identity"
>
> 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID"
>
> 0x1018:02, r-r-r-, uint32, 32 bit, "Product code"
>
> 0x1018:03, r-r-r-, uint32, 32 bit, "Revision"
>
> 0x1018:04, r-r-r-, uint32, 32 bit, "Serial number"
>
> SDO 0x10f0, "Backup parameter handling"
>
> 0x10f0:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x10f0:01, r-r-r-, uint32, 32 bit, "Checksum"
>
> SDO 0x10f3, "Diagnosis History"
>
> 0x10f3:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x10f3:01, r-r-r-, uint8, 8 bit, "Maximum Messages"
>
> 0x10f3:02, r-r-r-, uint8, 8 bit, "Newest Message"
>
> 0x10f3:03, rwrwrw, uint8, 8 bit, "Newest Acknowledged Message"
>
> 0x10f3:04, r-r-r-, bool, 1 bit, "New Messages Available"
>
> 0x10f3:05, rwrwrw, uint16, 16 bit, "Flags"
>
> 0x10f3:06, r-r-r-, octet_string, 224 bit, "Diagnosis Message 001"
>
> 0x10f3:07, r-r-r-, octet_string, 224 bit, "Diagnosis Message 002"
>
> 0x10f3:08, r-r-r-, octet_string, 224 bit, "Diagnosis Message 003"
>
> 0x10f3:09, r-r-r-, octet_string, 224 bit, "Diagnosis Message 004"
>
> 0x10f3:0a, r-r-r-, octet_string, 224 bit, "Diagnosis Message 005"
>
> 0x10f3:0b, r-r-r-, octet_string, 224 bit, "Diagnosis Message 006"
>
> 0x10f3:0c, r-r-r-, octet_string, 224 bit, "Diagnosis Message 007"
>
> 0x10f3:0d, r-r-r-, octet_string, 224 bit, "Diagnosis Message 008"
>
> 0x10f3:0e, r-r-r-, octet_string, 224 bit, "Diagnosis Message 009"
>
> 0x10f3:0f, r-r-r-, octet_string, 224 bit, "Diagnosis Message 010"
>
> 0x10f3:10, r-r-r-, octet_string, 224 bit, "Diagnosis Message 011"
>
> 0x10f3:11, r-r-r-, octet_string, 224 bit, "Diagnosis Message 012"
>
> 0x10f3:12, r-r-r-, octet_string, 224 bit, "Diagnosis Message 013"
>
> 0x10f3:13, r-r-r-, octet_string, 224 bit, "Diagnosis Message 014"
>
> 0x10f3:14, r-r-r-, octet_string, 224 bit, "Diagnosis Message 015"
>
> 0x10f3:15, r-r-r-, octet_string, 224 bit, "Diagnosis Message 016"
>
> 0x10f3:16, r-r-r-, octet_string, 224 bit, "Diagnosis Message 017"
>
> 0x10f3:17, r-r-r-, octet_string, 224 bit, "Diagnosis Message 018"
>
> 0x10f3:18, r-r-r-, octet_string, 224 bit, "Diagnosis Message 019"
>
> 0x10f3:19, r-r-r-, octet_string, 224 bit, "Diagnosis Message 020"
>
> 0x10f3:1a, r-r-r-, octet_string, 224 bit, "Diagnosis Message 021"
>
> 0x10f3:1b, r-r-r-, octet_string, 224 bit, "Diagnosis Message 022"
>
> 0x10f3:1c, r-r-r-, octet_string, 224 bit, "Diagnosis Message 023"
>
> 0x10f3:1d, r-r-r-, octet_string, 224 bit, "Diagnosis Message 024"
>
> 0x10f3:1e, r-r-r-, octet_string, 224 bit, "Diagnosis Message 025"
>
> 0x10f3:1f, r-r-r-, octet_string, 224 bit, "Diagnosis Message 026"
>
> 0x10f3:20, r-r-r-, octet_string, 224 bit, "Diagnosis Message 027"
>
> 0x10f3:21, r-r-r-, octet_string, 224 bit, "Diagnosis Message 028"
>
> 0x10f3:22, r-r-r-, octet_string, 224 bit, "Diagnosis Message 029"
>
> 0x10f3:23, r-r-r-, octet_string, 224 bit, "Diagnosis Message 030"
>
> 0x10f3:24, r-r-r-, octet_string, 224 bit, "Diagnosis Message 031"
>
> 0x10f3:25, r-r-r-, octet_string, 224 bit, "Diagnosis Message 032"
>
> 0x10f3:26, r-r-r-, octet_string, 224 bit, "Diagnosis Message 033"
>
> 0x10f3:27, r-r-r-, octet_string, 224 bit, "Diagnosis Message 034"
>
> 0x10f3:28, r-r-r-, octet_string, 224 bit, "Diagnosis Message 035"
>
> 0x10f3:29, r-r-r-, octet_string, 224 bit, "Diagnosis Message 036"
>
> 0x10f3:2a, r-r-r-, octet_string, 224 bit, "Diagnosis Message 037"
>
> 0x10f3:2b, r-r-r-, octet_string, 224 bit, "Diagnosis Message 038"
>
> 0x10f3:2c, r-r-r-, octet_string, 224 bit, "Diagnosis Message 039"
>
> 0x10f3:2d, r-r-r-, octet_string, 224 bit, "Diagnosis Message 040"
>
> 0x10f3:2e, r-r-r-, octet_string, 224 bit, "Diagnosis Message 041"
>
> 0x10f3:2f, r-r-r-, octet_string, 224 bit, "Diagnosis Message 042"
>
> 0x10f3:30, r-r-r-, octet_string, 224 bit, "Diagnosis Message 043"
>
> 0x10f3:31, r-r-r-, octet_string, 224 bit, "Diagnosis Message 044"
>
> 0x10f3:32, r-r-r-, octet_string, 224 bit, "Diagnosis Message 045"
>
> 0x10f3:33, r-r-r-, octet_string, 224 bit, "Diagnosis Message 046"
>
> 0x10f3:34, r-r-r-, octet_string, 224 bit, "Diagnosis Message 047"
>
> 0x10f3:35, r-r-r-, octet_string, 224 bit, "Diagnosis Message 048"
>
> 0x10f3:36, r-r-r-, octet_string, 224 bit, "Diagnosis Message 049"
>
> 0x10f3:37, r-r-r-, octet_string, 224 bit, "Diagnosis Message 050"
>
> SDO 0x10f8, "Actual Time Stamp"
>
> 0x10f8:00, r-r-r-, uint64, 64 bit, "Actual Time Stamp"
>
> SDO 0x1600, "DOX RxPDO-Map Control"
>
> 0x1600:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1600:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> 0x1600:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
>
> 0x1600:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
>
> 0x1600:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
>
> 0x1600:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
>
> 0x1600:06, r-r-r-, uint32, 32 bit, "SubIndex 006"
>
> 0x1600:07, r-r-r-, uint32, 32 bit, "SubIndex 007"
>
> SDO 0x1601, "DOX RxPDO-Map Current"
>
> 0x1601:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1601:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> SDO 0x1602, "DOX RxPDO-Map Impulse length"
>
> 0x1602:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1602:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> SDO 0x1603, "DOX RxPDO-Map Trigger delay"
>
> 0x1603:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1603:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> SDO 0x1604, "DC RxPDO-Map Sync"
>
> 0x1604:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1604:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> 0x1604:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
>
> 0x1604:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
>
> SDO 0x1a00, "DOX TxPDO-Map Status"
>
> 0x1a00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1a00:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> 0x1a00:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
>
> 0x1a00:03, r-r-r-, uint32, 32 bit, "SubIndex 003"
>
> 0x1a00:04, r-r-r-, uint32, 32 bit, "SubIndex 004"
>
> 0x1a00:05, r-r-r-, uint32, 32 bit, "SubIndex 005"
>
> 0x1a00:06, r-r-r-, uint32, 32 bit, "SubIndex 006"
>
> 0x1a00:07, r-r-r-, uint32, 32 bit, "SubIndex 007"
>
> 0x1a00:08, r-r-r-, uint32, 32 bit, "SubIndex 008"
>
> 0x1a00:09, r-r-r-, uint32, 32 bit, "SubIndex 009"
>
> SDO 0x1a01, "DOX TxPDO-Map Synchron info data"
>
> 0x1a01:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1a01:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> 0x1a01:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
>
> SDO 0x1a02, "DC TxPDO-Map Feedback"
>
> 0x1a02:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1a02:01, r-r-r-, uint32, 32 bit, "SubIndex 001"
>
> 0x1a02:02, r-r-r-, uint32, 32 bit, "SubIndex 002"
>
> SDO 0x1c00, "Sync manager type"
>
> 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001"
>
> 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002"
>
> 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003"
>
> 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004"
>
> SDO 0x1c12, "RxPDO assign"
>
> 0x1c12:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1c12:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
>
> 0x1c12:02, rwr-r-, uint16, 16 bit, "SubIndex 002"
>
> 0x1c12:03, rwr-r-, uint16, 16 bit, "SubIndex 003"
>
> 0x1c12:04, rwr-r-, uint16, 16 bit, "SubIndex 004"
>
> 0x1c12:05, rwr-r-, uint16, 16 bit, "SubIndex 005"
>
> SDO 0x1c13, "TxPDO assign"
>
> 0x1c13:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1c13:01, rwr-r-, uint16, 16 bit, "SubIndex 001"
>
> 0x1c13:02, rwr-r-, uint16, 16 bit, "SubIndex 002"
>
> 0x1c13:03, rwr-r-, uint16, 16 bit, "SubIndex 003"
>
> SDO 0x1c32, "SM output parameter"
>
> 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1c32:01, rwrwrw, uint16, 16 bit, "Sync mode"
>
> 0x1c32:02, rwrwrw, uint32, 32 bit, "Cycle time"
>
> 0x1c32:03, r-r-r-, uint32, 32 bit, "Shift time"
>
> 0x1c32:04, r-r-r-, uint16, 16 bit, "Sync modes supported"
>
> 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum cycle time"
>
> 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and copy time"
>
> 0x1c32:07, r-r-r-, uint32, 32 bit, "Minimum delay time"
>
> 0x1c32:08, rwrwrw, uint16, 16 bit, "Command"
>
> 0x1c32:09, r-r-r-, uint32, 32 bit, "Maximum delay time"
>
> 0x1c32:0a, r-r-r-, type 0000, 32 bit, "SubIndex 010"
>
> 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM event missed counter"
>
> 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle exceeded counter"
>
> 0x1c32:0d, r-r-r-, uint16, 16 bit, "Shift too short counter"
>
> 0x1c32:0e, r-r-r-, type 0000, 16 bit, "SubIndex 014"
>
> 0x1c32:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
>
> 0x1c32:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
>
> 0x1c32:11, r-r-r-, type 0000, 0 bit, "SubIndex 017"
>
> 0x1c32:12, r-r-r-, type 0000, 0 bit, "SubIndex 018"
>
> 0x1c32:13, r-r-r-, type 0000, 0 bit, "SubIndex 019"
>
> 0x1c32:14, r-r-r-, type 0000, 0 bit, "SubIndex 020"
>
> 0x1c32:15, r-r-r-, type 0000, 0 bit, "SubIndex 021"
>
> 0x1c32:16, r-r-r-, type 0000, 0 bit, "SubIndex 022"
>
> 0x1c32:17, r-r-r-, type 0000, 0 bit, "SubIndex 023"
>
> 0x1c32:18, r-r-r-, type 0000, 0 bit, "SubIndex 024"
>
> 0x1c32:19, r-r-r-, type 0000, 0 bit, "SubIndex 025"
>
> 0x1c32:1a, r-r-r-, type 0000, 0 bit, "SubIndex 026"
>
> 0x1c32:1b, r-r-r-, type 0000, 0 bit, "SubIndex 027"
>
> 0x1c32:1c, r-r-r-, type 0000, 0 bit, "SubIndex 028"
>
> 0x1c32:1d, r-r-r-, type 0000, 0 bit, "SubIndex 029"
>
> 0x1c32:1e, r-r-r-, type 0000, 0 bit, "SubIndex 030"
>
> 0x1c32:1f, r-r-r-, type 0000, 0 bit, "SubIndex 031"
>
> 0x1c32:20, r-r-r-, bool, 1 bit, "Sync error"
>
> SDO 0x1c33, "SM input parameter"
>
> 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x1c33:01, rwrwrw, uint16, 16 bit, "Sync mode"
>
> 0x1c33:02, rwrwrw, uint32, 32 bit, "Cycle time"
>
> 0x1c33:03, r-r-r-, uint32, 32 bit, "Shift time"
>
> 0x1c33:04, r-r-r-, uint16, 16 bit, "Sync modes supported"
>
> 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum cycle time"
>
> 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and copy time"
>
> 0x1c33:07, r-r-r-, uint32, 32 bit, "Minimum delay time"
>
> 0x1c33:08, rwrwrw, uint16, 16 bit, "Command"
>
> 0x1c33:09, r-r-r-, uint32, 32 bit, "Maximum delay time"
>
> 0x1c33:0a, r-r-r-, type 0000, 32 bit, "SubIndex 010"
>
> 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM event missed counter"
>
> 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle exceeded counter"
>
> 0x1c33:0d, r-r-r-, uint16, 16 bit, "Shift too short counter"
>
> 0x1c33:0e, r-r-r-, type 0000, 16 bit, "SubIndex 014"
>
> 0x1c33:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
>
> 0x1c33:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
>
> 0x1c33:11, r-r-r-, type 0000, 0 bit, "SubIndex 017"
>
> 0x1c33:12, r-r-r-, type 0000, 0 bit, "SubIndex 018"
>
> 0x1c33:13, r-r-r-, type 0000, 0 bit, "SubIndex 019"
>
> 0x1c33:14, r-r-r-, type 0000, 0 bit, "SubIndex 020"
>
> 0x1c33:15, r-r-r-, type 0000, 0 bit, "SubIndex 021"
>
> 0x1c33:16, r-r-r-, type 0000, 0 bit, "SubIndex 022"
>
> 0x1c33:17, r-r-r-, type 0000, 0 bit, "SubIndex 023"
>
> 0x1c33:18, r-r-r-, type 0000, 0 bit, "SubIndex 024"
>
> 0x1c33:19, r-r-r-, type 0000, 0 bit, "SubIndex 025"
>
> 0x1c33:1a, r-r-r-, type 0000, 0 bit, "SubIndex 026"
>
> 0x1c33:1b, r-r-r-, type 0000, 0 bit, "SubIndex 027"
>
> 0x1c33:1c, r-r-r-, type 0000, 0 bit, "SubIndex 028"
>
> 0x1c33:1d, r-r-r-, type 0000, 0 bit, "SubIndex 029"
>
> 0x1c33:1e, r-r-r-, type 0000, 0 bit, "SubIndex 030"
>
> 0x1c33:1f, r-r-r-, type 0000, 0 bit, "SubIndex 031"
>
> 0x1c33:20, r-r-r-, bool, 1 bit, "Sync error"
>
> SDO 0x6000, "DOX Inputs Ch.1"
>
> 0x6000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x6000:01, r-r-r-, bool, 1 bit, "Ready to activate"
>
> 0x6000:02, r-r-r-, bool, 1 bit, "Output active"
>
> 0x6000:03, r-r-r-, type 0000, 1 bit, "SubIndex 003"
>
> 0x6000:04, r-r-r-, type 0000, 3 bit, "SubIndex 004"
>
> 0x6000:05, r-r-r-, type 0000, 0 bit, "SubIndex 005"
>
> 0x6000:06, r-r-r-, type 0000, 0 bit, "SubIndex 006"
>
> 0x6000:07, r-r-r-, bool, 1 bit, "Warning"
>
> 0x6000:08, r-r-r-, bool, 1 bit, "Error"
>
> 0x6000:09, r-r-r-, type 0000, 3 bit, "SubIndex 009"
>
> 0x6000:0a, r-r-r-, type 0000, 0 bit, "SubIndex 010"
>
> 0x6000:0b, r-r-r-, type 0000, 0 bit, "SubIndex 011"
>
> 0x6000:0c, r-r-r-, bool, 1 bit, "Digital input"
>
> 0x6000:0d, r-r-r-, type 0000, 3 bit, "SubIndex 013"
>
> 0x6000:0e, r-r-r-, type 0000, 0 bit, "SubIndex 014"
>
> 0x6000:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
>
> 0x6000:10, r-r-r-, bool, 1 bit, "TxPDO Toggle"
>
> 0x6000:11, r-r-r-, uint16, 16 bit, "Info data 1"
>
> 0x6000:12, r-r-r-, uint16, 16 bit, "Info data 2"
>
> SDO 0x7000, "DOX Outputs Ch.1"
>
> 0x7000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x7000:01, r-r-r-, type 0000, 1 bit, "SubIndex 001"
>
> 0x7000:02, r-r-r-, bool, 1 bit, "Output"
>
> 0x7000:03, r-r-r-, type 0000, 1 bit, "SubIndex 003"
>
> 0x7000:04, r-r-r-, bool, 1 bit, "Input trigger enable"
>
> 0x7000:05, r-r-r-, type 0000, 3 bit, "SubIndex 005"
>
> 0x7000:06, r-r-r-, type 0000, 0 bit, "SubIndex 006"
>
> 0x7000:07, r-r-r-, type 0000, 0 bit, "SubIndex 007"
>
> 0x7000:08, r-r-r-, bool, 1 bit, "Reset"
>
> 0x7000:09, r-r-r-, type 0000, 8 bit, "SubIndex 009"
>
> 0x7000:0a, r-r-r-, type 0000, 0 bit, "SubIndex 010"
>
> 0x7000:0b, r-r-r-, type 0000, 0 bit, "SubIndex 011"
>
> 0x7000:0c, r-r-r-, type 0000, 0 bit, "SubIndex 012"
>
> 0x7000:0d, r-r-r-, type 0000, 0 bit, "SubIndex 013"
>
> 0x7000:0e, r-r-r-, type 0000, 0 bit, "SubIndex 014"
>
> 0x7000:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
>
> 0x7000:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
>
> 0x7000:11, r-r-r-, uint16, 16 bit, "Output current"
>
> 0x7000:12, r-r-r-, uint32, 32 bit, "Impulse length"
>
> 0x7000:13, r-r-r-, uint32, 32 bit, "Trigger delay"
>
> SDO 0x8000, "DOX Settings Ch.1"
>
> 0x8000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x8000:01, rwrwrw, type 0000, 16 bit, "SubIndex 001"
>
> 0x8000:02, rwrwrw, uint16, 16 bit, "Hold current"
>
> 0x8000:03, rwrwrw, uint16, 16 bit, "Supply voltage"
>
> 0x8000:04, rwrwrw, uint16, 16 bit, "Output voltage"
>
> 0x8000:05, rwrwrw, type 0000, 16 bit, "SubIndex 005"
>
> 0x8000:06, rwrwrw, type 0000, 16 bit, "SubIndex 006"
>
> 0x8000:07, rwrwrw, type 0000, 16 bit, "SubIndex 007"
>
> 0x8000:08, rwrwrw, type 0000, 16 bit, "SubIndex 008"
>
> 0x8000:09, rwrwrw, uint32, 32 bit, "Pulse on time (max.)"
>
> 0x8000:0a, rwrwrw, uint32, 32 bit, "Pulse off time (min.)"
>
> 0x8000:0b, rwrwrw, uint32, 32 bit, "Trigger delay (switch on)"
>
> 0x8000:0c, rwrwrw, type 0000, 0 bit, "SubIndex 012"
>
> 0x8000:0d, rwrwrw, type 0000, 0 bit, "SubIndex 013"
>
> 0x8000:0e, rwrwrw, type 0000, 0 bit, "SubIndex 014"
>
> 0x8000:0f, rwrwrw, type 0000, 0 bit, "SubIndex 015"
>
> 0x8000:10, rwrwrw, type 0000, 0 bit, "SubIndex 016"
>
> 0x8000:11, rwrwrw, uint8, 8 bit, "Warning level (supply voltage)"
>
> 0x8000:12, rwrwrw, uint8, 8 bit, "Error level (supply voltage)"
>
> 0x8000:13, rwrwrw, uint8, 8 bit, "Warning level (output voltage)"
>
> 0x8000:14, rwrwrw, uint8, 8 bit, "Error level (output voltage)"
>
> SDO 0x8001, "DOX Controller Settings Ch.1"
>
> 0x8001:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x8001:01, rwrwrw, uint16, 16 bit, "Kp factor (curr.)"
>
> 0x8001:02, rwrwrw, uint16, 16 bit, "Ki factor (curr.)"
>
> 0x8001:03, rwrwrw, uint16, 16 bit, "Kd factor (curr.)"
>
> SDO 0x8002, "DOX Features Ch.1"
>
> 0x8002:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x8002:01, rwrwrw, type 0000, 1 bit, "SubIndex 001"
>
> 0x8002:02, rwrwrw, type 0000, 1 bit, "SubIndex 002"
>
> 0x8002:03, rwrwrw, type 0000, 1 bit, "SubIndex 003"
>
> 0x8002:04, rwrwrw, bool, 1 bit, "Enable emergency flash"
>
> 0x8002:05, rwrwrw, bool, 1 bit, "Enable automatic reset on error"
>
> 0x8002:06, rwrwrw, bool, 1 bit, "Enable automatic saving of counter"
>
> 0x8002:07, rwrwrw, type 0000, 2 bit, "SubIndex 007"
>
> 0x8002:08, rwrwrw, type 0000, 0 bit, "SubIndex 008"
>
> 0x8002:09, rwrwrw, type 0000, 4 bit, "SubIndex 009"
>
> 0x8002:0a, rwrwrw, type 0000, 0 bit, "SubIndex 010"
>
> 0x8002:0b, rwrwrw, type 0000, 0 bit, "SubIndex 011"
>
> 0x8002:0c, rwrwrw, type 0000, 0 bit, "SubIndex 012"
>
> 0x8002:0d, rwrwrw, type 0000, 4 bit, "SubIndex 013"
>
> 0x8002:0e, rwrwrw, type 0000, 0 bit, "SubIndex 014"
>
> 0x8002:0f, rwrwrw, type 0000, 0 bit, "SubIndex 015"
>
> 0x8002:10, rwrwrw, type 0000, 0 bit, "SubIndex 016"
>
> 0x8002:11, rwrwrw, type 0803, 8 bit, "Select info data 1"
>
> 0x8002:12, rwrwrw, type 0000, 0 bit, "SubIndex 018"
>
> 0x8002:13, rwrwrw, type 0000, 0 bit, "SubIndex 019"
>
> 0x8002:14, rwrwrw, type 0000, 0 bit, "SubIndex 020"
>
> 0x8002:15, rwrwrw, type 0000, 0 bit, "SubIndex 021"
>
> 0x8002:16, rwrwrw, type 0000, 0 bit, "SubIndex 022"
>
> 0x8002:17, rwrwrw, type 0000, 0 bit, "SubIndex 023"
>
> 0x8002:18, rwrwrw, type 0000, 0 bit, "SubIndex 024"
>
> 0x8002:19, rwrwrw, type 0804, 8 bit, "Select info data 2"
>
> 0x8002:1a, rwrwrw, type 0000, 0 bit, "SubIndex 026"
>
> 0x8002:1b, rwrwrw, type 0000, 0 bit, "SubIndex 027"
>
> 0x8002:1c, rwrwrw, type 0000, 0 bit, "SubIndex 028"
>
> 0x8002:1d, rwrwrw, type 0000, 0 bit, "SubIndex 029"
>
> 0x8002:1e, rwrwrw, type 0000, 0 bit, "SubIndex 030"
>
> 0x8002:1f, rwrwrw, type 0000, 0 bit, "SubIndex 031"
>
> 0x8002:20, rwrwrw, type 0000, 0 bit, "SubIndex 032"
>
> 0x8002:21, rwrwrw, type 0000, 8 bit, "SubIndex 033"
>
> 0x8002:22, rwrwrw, type 0000, 0 bit, "SubIndex 034"
>
> 0x8002:23, rwrwrw, type 0000, 0 bit, "SubIndex 035"
>
> 0x8002:24, rwrwrw, type 0000, 0 bit, "SubIndex 036"
>
> 0x8002:25, rwrwrw, type 0000, 0 bit, "SubIndex 037"
>
> 0x8002:26, rwrwrw, type 0000, 0 bit, "SubIndex 038"
>
> 0x8002:27, rwrwrw, type 0000, 0 bit, "SubIndex 039"
>
> 0x8002:28, rwrwrw, type 0000, 0 bit, "SubIndex 040"
>
> 0x8002:29, rwrwrw, type 0000, 7 bit, "SubIndex 041"
>
> 0x8002:2a, rwrwrw, type 0000, 0 bit, "SubIndex 042"
>
> 0x8002:2b, rwrwrw, type 0000, 0 bit, "SubIndex 043"
>
> 0x8002:2c, rwrwrw, type 0000, 0 bit, "SubIndex 044"
>
> 0x8002:2d, rwrwrw, type 0000, 0 bit, "SubIndex 045"
>
> 0x8002:2e, rwrwrw, type 0000, 0 bit, "SubIndex 046"
>
> 0x8002:2f, rwrwrw, type 0000, 0 bit, "SubIndex 047"
>
> 0x8002:30, rwrwrw, bool, 1 bit, "Invert digital input"
>
> 0x8002:31, rwrwrw, type 0000, 1 bit, "SubIndex 049"
>
> 0x8002:32, rwrwrw, type 0801, 4 bit, "Function for input"
>
> 0x8002:33, rwrwrw, type 0000, 3 bit, "SubIndex 051"
>
> 0x8002:34, rwrwrw, type 0000, 8 bit, "SubIndex 052"
>
> SDO 0x8003, "DOX Flash timing Ch.1"
>
> 0x8003:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x8003:01, rwrwrw, uint16, 16 bit, "ON-Time 1"
>
> 0x8003:02, rwrwrw, uint16, 16 bit, "OFF-Time 1"
>
> 0x8003:03, rwrwrw, uint16, 16 bit, "ON-Time 2"
>
> 0x8003:04, rwrwrw, uint16, 16 bit, "OFF-Time 2"
>
> 0x8003:05, rwrwrw, uint16, 16 bit, "ON-Time 3"
>
> 0x8003:06, rwrwrw, uint16, 16 bit, "OFF-Time 3"
>
> 0x8003:07, rwrwrw, uint16, 16 bit, "ON-Time 4"
>
> 0x8003:08, rwrwrw, uint16, 16 bit, "OFF-Time 4"
>
> 0x8003:09, rwrwrw, uint16, 16 bit, "ON-Time 5"
>
> 0x8003:0a, rwrwrw, uint16, 16 bit, "OFF-Time 5"
>
> 0x8003:0b, rwrwrw, uint16, 16 bit, "ON-Time 6"
>
> 0x8003:0c, rwrwrw, uint16, 16 bit, "OFF-Time 6"
>
> SDO 0x800f, "DOX Vendor data"
>
> 0x800f:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x800f:01, rwrwrw, int16, 16 bit, "Offset (output voltage)"
>
> 0x800f:02, rwrwrw, uint16, 16 bit, "Gain (output voltage)"
>
> 0x800f:03, rwrwrw, int16, 16 bit, "Offset (output current)"
>
> 0x800f:04, rwrwrw, uint16, 16 bit, "Gain (output current)"
>
> SDO 0x9000, "DOX Info data Ch.1"
>
> 0x9000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0x9000:01, r-r-r-, uint16, 16 bit, "Status word"
>
> 0x9000:02, r-r-r-, type 0000, 16 bit, "SubIndex 002"
>
> 0x9000:03, r-r-r-, type 0000, 16 bit, "SubIndex 003"
>
> 0x9000:04, r-r-r-, type 0000, 0 bit, "SubIndex 004"
>
> 0x9000:05, r-r-r-, type 0000, 0 bit, "SubIndex 005"
>
> 0x9000:06, r-r-r-, type 0000, 8 bit, "SubIndex 006"
>
> 0x9000:07, r-r-r-, type 0000, 8 bit, "SubIndex 007"
>
> 0x9000:08, r-r-r-, uint16, 16 bit, "Output voltage"
>
> 0x9000:09, r-r-r-, uint16, 16 bit, "Output current"
>
> 0x9000:0a, r-r-r-, type 0000, 0 bit, "SubIndex 010"
>
> 0x9000:0b, r-r-r-, type 0000, 0 bit, "SubIndex 011"
>
> 0x9000:0c, r-r-r-, type 0000, 0 bit, "SubIndex 012"
>
> 0x9000:0d, r-r-r-, type 0000, 0 bit, "SubIndex 013"
>
> 0x9000:0e, r-r-r-, type 0000, 0 bit, "SubIndex 014"
>
> 0x9000:0f, r-r-r-, type 0000, 0 bit, "SubIndex 015"
>
> 0x9000:10, r-r-r-, type 0000, 0 bit, "SubIndex 016"
>
> 0x9000:11, r-r-r-, uint32, 32 bit, "Operating hour counter"
>
> 0x9000:12, r-r-r-, uint32, 32 bit, "Switching operation counter"
>
> SDO 0xa000, "DOX Diag data Ch.1"
>
> 0xa000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xa000:01, r-r-r-, bool, 1 bit, "Saturated"
>
> 0xa000:02, r-r-r-, bool, 1 bit, "Over temperature"
>
> 0xa000:03, r-r-r-, type 0000, 1 bit, "SubIndex 003"
>
> 0xa000:04, r-r-r-, bool, 1 bit, "Under voltage (Supply)"
>
> 0xa000:05, r-r-r-, bool, 1 bit, "Over voltage (Supply)"
>
> 0xa000:06, r-r-r-, bool, 1 bit, "Short circuit"
>
> 0xa000:07, r-r-r-, type 0000, 1 bit, "SubIndex 007"
>
> 0xa000:08, r-r-r-, bool, 1 bit, "No control power"
>
> 0xa000:09, r-r-r-, bool, 1 bit, "Misc error"
>
> 0xa000:0a, r-r-r-, bool, 1 bit, "Under voltage (Output)"
>
> 0xa000:0b, r-r-r-, bool, 1 bit, "Over voltage (Output)"
>
> 0xa000:0c, r-r-r-, type 0000, 5 bit, "SubIndex 012"
>
> SDO 0xf000, "Modular device profile"
>
> 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf000:01, r-r-r-, uint16, 16 bit, "Module index distance"
>
> 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules"
>
> SDO 0xf008, "Code word"
>
> 0xf008:00, rwrwrw, uint32, 32 bit, "Code word"
>
> SDO 0xf010, "Module list"
>
> 0xf010:00, rwr-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf010:01, rwr-r-, uint32, 32 bit, "SubIndex 001"
>
> SDO 0xf600, "DC Inputs"
>
> 0xf600:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf600:01, r-r-r-, uint8, 8 bit, "Feedback"
>
> 0xf600:02, r-r-r-, type 0000, 8 bit, "SubIndex 002"
>
> SDO 0xf700, "DC Outputs"
>
> 0xf700:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf700:01, r-r-r-, uint8, 8 bit, "Activate"
>
> 0xf700:02, r-r-r-, type 0000, 8 bit, "SubIndex 002"
>
> 0xf700:03, r-r-r-, uint64, 64 bit, "Start time"
>
> SDO 0xf80f, "DOX Vendor data"
>
> 0xf80f:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf80f:01, rwrwrw, uint32, 32 bit, "PWM Frequency"
>
> 0xf80f:02, rwrwrw, uint16, 16 bit, "Deadtime"
>
> 0xf80f:03, rwrwrw, uint16, 16 bit, "Deadtime space"
>
> 0xf80f:04, rwrwrw, int8, 8 bit, "Warning temperature"
>
> 0xf80f:05, rwrwrw, int8, 8 bit, "Switch off temperature"
>
> 0xf80f:06, rwrwrw, uint16, 16 bit, "Analog trigger point"
>
> 0xf80f:07, rwrwrw, int16, 16 bit, "SYNC 0 shift time"
>
> SDO 0xf900, "DOX Info data"
>
> 0xf900:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xf900:01, r-r-r-, string, 16 bit, "Software version (driver)"
>
> 0xf900:02, r-r-r-, int8, 8 bit, "Internal temperature"
>
> 0xf900:03, r-r-r-, type 0000, 0 bit, "SubIndex 003"
>
> 0xf900:04, r-r-r-, type 0000, 8 bit, "SubIndex 004"
>
> 0xf900:05, r-r-r-, uint16, 16 bit, "Supply voltage"
>
> 0xf900:06, r-r-r-, uint16, 16 bit, "Supply current"
>
> SDO 0xfb00, "DOX Command"
>
> 0xfb00:00, r-r-r-, uint8, 8 bit, "SubIndex 000"
>
> 0xfb00:01, rwrwrw, octet_string, 16 bit, "Request"
>
> 0xfb00:02, r-r-r-, uint8, 8 bit, "Status"
>
> 0xfb00:03, r-r-r-, octet_string, 32 bit, "Response"
>
> 0xfb00:04, ------, type 0000, 8 bit, "SubIndex 004"
>
>
>
>
>
>
> --
>
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> Diamond Light Source Ltd. cannot guarantee that this e-mail or any
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>
>
>
>
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--
Jun Yuan
[Aussprache: Djün Üän]
Robotics Technology Leaders GmbH
Am Loferfeld 58, D-81249 München
Tel: +49 89 189 0465 24
Mobile: +49 176 2176 5238
Fax: +49 89 189 0465 11
mailto: j.yuan at rtleaders.com
Umlautregel in der chinesischen Lautschrift Pinyin: Nach den Anlauten
y, j, q, und x wird u als ü ausgesprochen, z.B. yu => ü, ju => dschü,
qu => tschü, xu => schü.
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