[etherlab-users] Data type problem generic slave
Ralph Oosterveld
r.n.oosterveld at student.utwente.nl
Thu May 1 15:36:40 CEST 2014
Hello,
I've made my own Simulink block with de generic slave from the EtherLab
library. The M-file for this is made by the command "ethercat pdos --skin
etherlab".
Now I got a data type problem using my Simulink block. The Simulink error
says that the PDO has data type "Unsigned16", but according to the manual
this should be a "int16".
I've checked this in the terminal using ethercat:
# ethercat pdos
...
PDO entry 0x7002:01, 16 bit, "Aout 1"
...
# ethercat xml
...
<Index>#x7002</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>Aout 1</Name>
<DataType>UINT16</DataType>
...
# ethercat sdos
...
0x7002:01, rwrwrw, int16, 16 bit, "Aout 1"
...
This should be a "int16" like in the SDOs. How can I fix this problem?
Attached:
* Terminal data
* generated M-file
Thank you in advance,
*Ralph Oosterveld*
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ctw-arms at ctw-arms-pc ~/Matlab/Documents/Simulink/EBox $ ethercat pdos --skin etherlab
%
% Master 0, Slave 0, "E/BOX"
%
function rv = slave0()
% Slave configuration
rv.SlaveConfig.vendor = 1280;
rv.SlaveConfig.product = hex2dec('01107001');
rv.SlaveConfig.description = 'E/BOX';
rv.SlaveConfig.sm = { ...
{0, 0, {
}}, ...
{1, 1, {
}}, ...
{2, 0, {
{hex2dec('1600'), [
hex2dec('7000'), hex2dec('01'), 8; ...
hex2dec('7000'), hex2dec('02'), 8; ...
hex2dec('7002'), hex2dec('01'), 16; ...
hex2dec('7002'), hex2dec('02'), 16; ...
hex2dec('7003'), hex2dec('01'), 16; ...
hex2dec('7003'), hex2dec('02'), 16; ...
]}, ...
}}, ...
{3, 1, {
{hex2dec('1a00'), [
hex2dec('6000'), hex2dec('01'), 8; ...
hex2dec('6000'), hex2dec('02'), 8; ...
hex2dec('6000'), hex2dec('03'), 8; ...
hex2dec('6001'), hex2dec('01'), 32; ...
hex2dec('6001'), hex2dec('02'), 32; ...
hex2dec('6001'), hex2dec('03'), 32; ...
hex2dec('6002'), hex2dec('01'), 32; ...
hex2dec('6002'), hex2dec('02'), 32; ...
]}, ...
}}, ...
};
% Port configuration
rv.PortConfig.input(1).pdo = [2, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1008;
rv.PortConfig.input(2).pdo = [2, 0, 1, 0];
rv.PortConfig.input(2).pdo_data_type = 1008;
rv.PortConfig.input(3).pdo = [2, 0, 2, 0];
rv.PortConfig.input(3).pdo_data_type = 1016;
rv.PortConfig.input(4).pdo = [2, 0, 3, 0];
rv.PortConfig.input(4).pdo_data_type = 1016;
rv.PortConfig.input(5).pdo = [2, 0, 4, 0];
rv.PortConfig.input(5).pdo_data_type = 1016;
rv.PortConfig.input(6).pdo = [2, 0, 5, 0];
rv.PortConfig.input(6).pdo_data_type = 1016;
rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
rv.PortConfig.output(1).pdo_data_type = 1008;
rv.PortConfig.output(2).pdo = [3, 0, 1, 0];
rv.PortConfig.output(2).pdo_data_type = 1008;
rv.PortConfig.output(3).pdo = [3, 0, 2, 0];
rv.PortConfig.output(3).pdo_data_type = 1008;
rv.PortConfig.output(4).pdo = [3, 0, 3, 0];
rv.PortConfig.output(4).pdo_data_type = 1032;
rv.PortConfig.output(5).pdo = [3, 0, 4, 0];
rv.PortConfig.output(5).pdo_data_type = 1032;
rv.PortConfig.output(6).pdo = [3, 0, 5, 0];
rv.PortConfig.output(6).pdo_data_type = 1032;
rv.PortConfig.output(7).pdo = [3, 0, 6, 0];
rv.PortConfig.output(7).pdo_data_type = 1032;
rv.PortConfig.output(8).pdo = [3, 0, 7, 0];
rv.PortConfig.output(8).pdo_data_type = 1032;
end
ctw-arms at ctw-arms-pc ~/Matlab/Documents/Simulink/EBox $ ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x24, Enable 1
RxPDO 0x1600 "Receive PDO mapping"
PDO entry 0x7000:01, 8 bit, "Control"
PDO entry 0x7000:02, 8 bit, "Dout"
PDO entry 0x7002:01, 16 bit, "Aout 1"
PDO entry 0x7002:02, 16 bit, "Aout 2"
PDO entry 0x7003:01, 16 bit, "PWM 1"
PDO entry 0x7003:02, 16 bit, "PWM 2"
SM3: PhysAddr 0x1180, DefaultSize 0, ControlRegister 0x20, Enable 1
TxPDO 0x1a00 "Transmit PDO mapping"
PDO entry 0x6000:01, 8 bit, "Status"
PDO entry 0x6000:02, 8 bit, "Counter"
PDO entry 0x6000:03, 8 bit, "Din"
PDO entry 0x6001:01, 32 bit, "Ain 1"
PDO entry 0x6001:02, 32 bit, "Ain 2"
PDO entry 0x6001:03, 32 bit, "Timestamp"
PDO entry 0x6002:01, 32 bit, "Encoder 1"
PDO entry 0x6002:02, 32 bit, "Encoder 2"
ctw-arms at ctw-arms-pc ~/Matlab/Documents/Simulink/EBox $ ethercat xml
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 0 -->
<Vendor>
<Id>1280</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x01107001" RevisionNo="#x00000004">E/BOX</Type>
<Name><![CDATA[E/BOX SMF Ketels]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1080" ControlByte="#x22" DefaultSize="128" />
<Sm Enable="1" StartAddress="#x1100" ControlByte="#x24" DefaultSize="0" />
<Sm Enable="1" StartAddress="#x1180" ControlByte="#x20" DefaultSize="0" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>Receive PDO mapping</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>Control</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>8</BitLen>
<Name>Dout</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x7002</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>Aout 1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7002</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name>Aout 2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7003</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>PWM 1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x7003</Index>
<SubIndex>2</SubIndex>
<BitLen>16</BitLen>
<Name>PWM 2</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>Transmit PDO mapping</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>8</BitLen>
<Name>Status</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>8</BitLen>
<Name>Counter</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>8</BitLen>
<Name>Din</Name>
<DataType>UINT8</DataType>
</Entry>
<Entry>
<Index>#x6001</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name>Ain 1</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6001</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<Name>Ain 2</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6001</Index>
<SubIndex>3</SubIndex>
<BitLen>32</BitLen>
<Name>Timestamp</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6002</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<Name>Encoder 1</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6002</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<Name>Encoder 2</Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
ctw-arms at ctw-arms-pc ~/Matlab/Documents/Simulink/EBox $ ethercat sdos
SDO 0x1000, "Device Type"
0x1000:00, r-r-r-, uint32, 32 bit, "Device Type"
SDO 0x1008, "Manufacturer Device Name"
0x1008:00, r-r-r-, string, 48 bit, "Manufacturer Device Name"
SDO 0x1009, "Manufacturer Hardware Version"
0x1009:00, r-r-r-, string, 32 bit, "Manufacturer Hardware Version"
SDO 0x100a, "Manufacturer Software Version"
0x100a:00, r-r-r-, string, 48 bit, "Manufacturer Software Version"
SDO 0x1018, "Identity Object"
0x1018:00, r-r-r-, uint8, 8 bit, "Number of entries"
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 Number"
0x1018:04, r-r-r-, uint32, 32 bit, "Serial Number"
SDO 0x1600, "Receive PDO mapping"
0x1600:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x1600:01, r-r-r-, uint32, 32 bit, "Mapped object"
0x1600:02, r-r-r-, uint32, 32 bit, "Mapped object"
0x1600:03, r-r-r-, uint32, 32 bit, "Mapped object"
0x1600:04, r-r-r-, uint32, 32 bit, "Mapped object"
0x1600:05, r-r-r-, uint32, 32 bit, "Mapped object"
0x1600:06, r-r-r-, uint32, 32 bit, "Mapped object"
SDO 0x1601, "Receive PDO mapping"
0x1601:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x1601:01, r-r-r-, uint32, 32 bit, "Mapped object"
SDO 0x1a00, "Transmit PDO mapping"
0x1a00:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x1a00:01, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:02, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:03, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:04, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:05, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:06, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:07, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a00:08, r-r-r-, uint32, 32 bit, "Mapped object"
SDO 0x1a01, "Transmit PDO mapping"
0x1a01:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x1a01:01, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:02, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:03, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:04, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:05, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:06, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:07, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:08, r-r-r-, uint32, 32 bit, "Mapped object"
0x1a01:09, r-r-r-, uint32, 32 bit, "Mapped object"
SDO 0x1c00, "Sync Manager Communication type"
0x1c00:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x1c00:01, r-r-r-, uint8, 8 bit, "Communications type SM0"
0x1c00:02, r-r-r-, uint8, 8 bit, "Communications type SM1"
0x1c00:03, r-r-r-, uint8, 8 bit, "Communications type SM2"
0x1c00:04, r-r-r-, uint8, 8 bit, "Communications type SM3"
SDO 0x1c10, "Sync Manager 0 PDO Assignment"
0x1c10:00, r-r-r-, uint8, 8 bit, "Sync Manager 0 PDO Assignment"
SDO 0x1c11, "Sync Manager 1 PDO Assignment"
0x1c11:00, r-r-r-, uint8, 8 bit, "Sync Manager 1 PDO Assignment"
SDO 0x1c12, "Sync Manager 2 PDO Assignment"
0x1c12:00, rwr-r-, uint8, 8 bit, "Number of entries"
0x1c12:01, rwr-r-, uint16, 16 bit, "Mapped object"
SDO 0x1c13, "Sync Manager 3 PDO Assignment"
0x1c13:00, rwr-r-, uint8, 8 bit, "Number of entries"
0x1c13:01, rwr-r-, uint16, 16 bit, "Mapped object"
SDO 0x6000, "Digital Inputs"
0x6000:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x6000:01, r-r-r-, uint8, 8 bit, "Status"
0x6000:02, r-r-r-, uint8, 8 bit, "Counter"
0x6000:03, r-r-r-, uint8, 8 bit, "Din"
SDO 0x6001, "Analog inputs"
0x6001:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x6001:01, r-r-r-, int32, 32 bit, "Ain 1"
0x6001:02, r-r-r-, int32, 32 bit, "Ain 2"
0x6001:03, r-r-r-, uint32, 32 bit, "Timestamp"
SDO 0x6002, "Encoder inputs"
0x6002:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x6002:01, r-r-r-, int32, 32 bit, "Encoder 1"
0x6002:02, r-r-r-, int32, 32 bit, "Encoder 2"
SDO 0x6010, "Streaming input data"
0x6010:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x6010:01, r-r-r-, uint8, 8 bit, "Cycle counter"
0x6010:02, r-r-r-, octet_string, 200 bit, "Input block 1"
0x6010:03, r-r-r-, octet_string, 200 bit, "Input block 2"
0x6010:04, r-r-r-, octet_string, 200 bit, "Input block 3"
0x6010:05, r-r-r-, octet_string, 200 bit, "Input block 4"
0x6010:06, r-r-r-, octet_string, 200 bit, "Input block 5"
0x6010:07, r-r-r-, octet_string, 200 bit, "Input block 6"
0x6010:08, r-r-r-, octet_string, 200 bit, "Input block 7"
0x6010:09, r-r-r-, octet_string, 200 bit, "Input block 8"
SDO 0x7000, "Digital outputs"
0x7000:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x7000:01, rwrwrw, uint8, 8 bit, "Control"
0x7000:02, rwrwrw, uint8, 8 bit, "Dout"
SDO 0x7002, "Analog outputs"
0x7002:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x7002:01, rwrwrw, int16, 16 bit, "Aout 1"
0x7002:02, rwrwrw, int16, 16 bit, "Aout 2"
SDO 0x7003, "PWM outputs"
0x7003:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x7003:01, rwrwrw, int16, 16 bit, "PWM 1"
0x7003:02, rwrwrw, int16, 16 bit, "PWM 2"
SDO 0x8000, "Calibration"
0x8000:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x8000:01, rwrwrw, int16, 16 bit, "ADC1 zero offset"
0x8000:02, rwrwrw, uint32, 32 bit, "ADC1 gain"
0x8000:03, rwrwrw, int16, 16 bit, "ADC2 zero offset"
0x8000:04, rwrwrw, uint32, 32 bit, "ADC2 gain"
0x8000:05, rwrwrw, int16, 16 bit, "DAC1 zero offset"
0x8000:06, rwrwrw, int16, 16 bit, "DAC2 zero offset"
SDO 0x8001, "Settings"
0x8001:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x8001:01, rwrwrw, uint8, 8 bit, "Filter Ain1"
0x8001:02, rwrwrw, uint8, 8 bit, "Filter Ain2"
0x8001:03, rwrwrw, uint8, 8 bit, "Encoder mode"
0x8001:04, rwrwrw, uint8, 8 bit, "ADC mode"
0x8001:05, rwrwrw, uint8, 8 bit, "DAC mode"
SDO 0x8002, "Text lines"
0x8002:00, r-r-r-, uint8, 8 bit, "Number of entries"
0x8002:01, rwrwrw, string, 128 bit, "Line 1"
0x8002:02, rwrwrw, string, 128 bit, "Line 2"
0x8002:03, rwrwrw, string, 128 bit, "Line 3"
ctw-arms at ctw-arms-pc ~/Matlab/Documents/Simulink/EBox $
-------------- next part --------------
%
% Master 0, Slave 0, "E/BOX"
%
function rv = slave0()
% Slave configuration
rv.SlaveConfig.vendor = 1280;
rv.SlaveConfig.product = hex2dec('01107001');
rv.SlaveConfig.description = 'E/BOX';
rv.SlaveConfig.sm = { ...
{0, 0, {
}}, ...
{1, 1, {
}}, ...
{2, 0, {
{hex2dec('1600'), [
hex2dec('7000'), hex2dec('01'), 8; ...
hex2dec('7000'), hex2dec('02'), 8; ...
hex2dec('7002'), hex2dec('01'), 16; ...
hex2dec('7002'), hex2dec('02'), 16; ...
hex2dec('7003'), hex2dec('01'), 16; ...
hex2dec('7003'), hex2dec('02'), 16; ...
]}, ...
}}, ...
{3, 1, {
{hex2dec('1a00'), [
hex2dec('6000'), hex2dec('01'), 8; ...
hex2dec('6000'), hex2dec('02'), 8; ...
hex2dec('6000'), hex2dec('03'), 8; ...
hex2dec('6001'), hex2dec('01'), 32; ...
hex2dec('6001'), hex2dec('02'), 32; ...
hex2dec('6001'), hex2dec('03'), 32; ...
hex2dec('6002'), hex2dec('01'), 32; ...
hex2dec('6002'), hex2dec('02'), 32; ...
]}, ...
}}, ...
};
% Port configuration
rv.PortConfig.input(1).pdo = [2, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1008;
rv.PortConfig.input(2).pdo = [2, 0, 1, 0];
rv.PortConfig.input(2).pdo_data_type = 1008;
rv.PortConfig.input(3).pdo = [2, 0, 2, 0];
rv.PortConfig.input(3).pdo_data_type = 1016;
rv.PortConfig.input(4).pdo = [2, 0, 3, 0];
rv.PortConfig.input(4).pdo_data_type = 1016;
rv.PortConfig.input(5).pdo = [2, 0, 4, 0];
rv.PortConfig.input(5).pdo_data_type = 1016;
rv.PortConfig.input(6).pdo = [2, 0, 5, 0];
rv.PortConfig.input(6).pdo_data_type = 1016;
rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
rv.PortConfig.output(1).pdo_data_type = 1008;
rv.PortConfig.output(2).pdo = [3, 0, 1, 0];
rv.PortConfig.output(2).pdo_data_type = 1008;
rv.PortConfig.output(3).pdo = [3, 0, 2, 0];
rv.PortConfig.output(3).pdo_data_type = 1008;
rv.PortConfig.output(4).pdo = [3, 0, 3, 0];
rv.PortConfig.output(4).pdo_data_type = 1032;
rv.PortConfig.output(5).pdo = [3, 0, 4, 0];
rv.PortConfig.output(5).pdo_data_type = 1032;
rv.PortConfig.output(6).pdo = [3, 0, 5, 0];
rv.PortConfig.output(6).pdo_data_type = 1032;
rv.PortConfig.output(7).pdo = [3, 0, 6, 0];
rv.PortConfig.output(7).pdo_data_type = 1032;
rv.PortConfig.output(8).pdo = [3, 0, 7, 0];
rv.PortConfig.output(8).pdo_data_type = 1032;
end
%
% Master 0, Slave 0, "E/BOX"
%
function rv = slave0()
% Slave configuration
rv.SlaveConfig.vendor = 1280;
rv.SlaveConfig.product = hex2dec('01107001');
rv.SlaveConfig.description = 'E/BOX';
rv.SlaveConfig.sm = { ...
{0, 0, {
}}, ...
{1, 1, {
}}, ...
{2, 0, {
{hex2dec('1600'), [
hex2dec('7000'), hex2dec('01'), 8; ...
hex2dec('7000'), hex2dec('02'), 8; ...
hex2dec('7002'), hex2dec('01'), 16; ...
hex2dec('7002'), hex2dec('02'), 16; ...
hex2dec('7003'), hex2dec('01'), 16; ...
hex2dec('7003'), hex2dec('02'), 16; ...
]}, ...
}}, ...
{3, 1, {
{hex2dec('1a00'), [
hex2dec('6000'), hex2dec('01'), 8; ...
hex2dec('6000'), hex2dec('02'), 8; ...
hex2dec('6000'), hex2dec('03'), 8; ...
hex2dec('6001'), hex2dec('01'), 32; ...
hex2dec('6001'), hex2dec('02'), 32; ...
hex2dec('6001'), hex2dec('03'), 32; ...
hex2dec('6002'), hex2dec('01'), 32; ...
hex2dec('6002'), hex2dec('02'), 32; ...
]}, ...
}}, ...
};
% Port configuration
rv.PortConfig.input(1).pdo = [2, 0, 0, 0];
rv.PortConfig.input(1).pdo_data_type = 1008;
rv.PortConfig.input(2).pdo = [2, 0, 1, 0];
rv.PortConfig.input(2).pdo_data_type = 1008;
rv.PortConfig.input(3).pdo = [2, 0, 2, 0];
rv.PortConfig.input(3).pdo_data_type = 1016;
rv.PortConfig.input(4).pdo = [2, 0, 3, 0];
rv.PortConfig.input(4).pdo_data_type = 1016;
rv.PortConfig.input(5).pdo = [2, 0, 4, 0];
rv.PortConfig.input(5).pdo_data_type = 1016;
rv.PortConfig.input(6).pdo = [2, 0, 5, 0];
rv.PortConfig.input(6).pdo_data_type = 1016;
rv.PortConfig.output(1).pdo = [3, 0, 0, 0];
rv.PortConfig.output(1).pdo_data_type = 1008;
rv.PortConfig.output(2).pdo = [3, 0, 1, 0];
rv.PortConfig.output(2).pdo_data_type = 1008;
rv.PortConfig.output(3).pdo = [3, 0, 2, 0];
rv.PortConfig.output(3).pdo_data_type = 1008;
rv.PortConfig.output(4).pdo = [3, 0, 3, 0];
rv.PortConfig.output(4).pdo_data_type = 1032;
rv.PortConfig.output(5).pdo = [3, 0, 4, 0];
rv.PortConfig.output(5).pdo_data_type = 1032;
rv.PortConfig.output(6).pdo = [3, 0, 5, 0];
rv.PortConfig.output(6).pdo_data_type = 1032;
rv.PortConfig.output(7).pdo = [3, 0, 6, 0];
rv.PortConfig.output(7).pdo_data_type = 1032;
rv.PortConfig.output(8).pdo = [3, 0, 7, 0];
rv.PortConfig.output(8).pdo_data_type = 1032;
end
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