diff --git a/2_Motor_Master/Motor_Master/Motor_Master/ADS1299.c b/2_Motor_Master/Motor_Master/Motor_Master/ADS1299.c index 0860fac..6079742 100644 --- a/2_Motor_Master/Motor_Master/Motor_Master/ADS1299.c +++ b/2_Motor_Master/Motor_Master/Motor_Master/ADS1299.c @@ -65,12 +65,15 @@ void initialize_ads() /* Write Config Registers */ ADS1299_WREG(CONFIG1,0x94); // Set Config 1 Register - ADS1299_WREG(CONFIG2,0xC0); // Set Config 2 Register + //ADS1299_WREG(CONFIG2,0xC0); // Set Config 2 Register - Standard + ADS1299_WREG(CONFIG2,0xD4); // Set Config 2 Register - internal test signal, pulsed + //ADS1299_WREG(CONFIG2,0xD7); // Set Config 2 Register - internal test signal, DC ADS1299_WREG(CONFIG3,0xEC); // Set Config 3 Register ADS1299_WREG(LOFF,0x02); // Set LOFF Register for(uint8_t i=CH1SET; i<=CH4SET; i++) // set up to modify the 4 channel setting registers { - ADS1299.regData[i] = 0x68; // the regData array mirrors the ADS1299 register addresses + ADS1299.regData[i] = 0x68; // the regData array mirrors the ADS1299 register addresses + //ADS1299.regData[i] = 0x6D; // Test signal } ADS1299_WREGS(CH1SET,3); // write new channel settings ADS1299_WREG(BIAS_SENSP,0xFF); // Set BIAS_SENSP Register diff --git a/2_Motor_Master/Motor_Master/Motor_Master/main.c b/2_Motor_Master/Motor_Master/Motor_Master/main.c index 1b4cd03..c5f6c91 100644 --- a/2_Motor_Master/Motor_Master/Motor_Master/main.c +++ b/2_Motor_Master/Motor_Master/Motor_Master/main.c @@ -81,18 +81,18 @@ void enable_NVIC_IRQ(void) NVIC_EnableIRQ(DMAC_0_IRQn); NVIC_EnableIRQ(DMAC_1_IRQn); NVIC_SetPriority(DMAC_0_IRQn, 1); - NVIC_SetPriority(ADC1_0_IRQn, 3); + NVIC_SetPriority(ADC1_0_IRQn, 2); NVIC_EnableIRQ(TCC0_0_IRQn); NVIC_EnableIRQ(TCC1_0_IRQn); NVIC_EnableIRQ(EIC_2_IRQn); - NVIC_SetPriority(EIC_2_IRQn, 3); + //NVIC_SetPriority(EIC_2_IRQn, 3); //NVIC_SetPriority(TCC0_0_IRQn, 3); //NVIC_EnableIRQ(EIC_5_IRQn); } void APPLICATION_StateMachine(void) { - Motor1.timerflags.current_loop_tic = false; + //Motor1.timerflags.current_loop_tic = false; if (applicationStatus.fault) { @@ -177,10 +177,11 @@ int main(void) angle_sensor_init(); initialize_ads(); /* External IRQ Config */ - ext_irq_register(GPIO_PIN(ADS_DATA_RDY), ADS1299_dataReadyISR); - enable_NVIC_IRQ(); + __enable_irq(); - //ADS1299_START(); + enable_NVIC_IRQ(); + ext_irq_register(GPIO_PIN(ADS_DATA_RDY), ADS1299_dataReadyISR); + ADS1299_START(); /* Replace with your application code */ while (1) { @@ -195,10 +196,10 @@ int main(void) //_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_RECEIVE, false); //_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_TRANSMIT, false); - //int16_t* angles; - //angles = read_angle(); - //Motor1.motor_status.abs_position = degrees(angles[0]); - //Motor2.motor_status.abs_position = degrees(angles[1]); + int16_t* angles; + angles = read_angle(); + Motor1.motor_status.abs_position = degrees(angles[0]); + Motor2.motor_status.abs_position = degrees(angles[1]); ////field = ang_sense_read(AS_CMD_MAGNITUDE); //*Spare1_tx = (field[0] & AS_MASK); @@ -210,6 +211,7 @@ int main(void) } if (Motor1.timerflags.current_loop_tic) { + Motor1.timerflags.current_loop_tic = false; APPLICATION_StateMachine(); exec_commutation(&Motor1); exec_commutation(&Motor2); @@ -217,7 +219,7 @@ int main(void) if (ADS1299.data_ReadyFlag){ ADS1299.data_ReadyFlag = false; - //ADS1299_UPDATECHANNELDATA(); + ADS1299_UPDATECHANNELDATA(); } if (run_ECAT) {ECAT_STATE_MACHINE();} diff --git a/2_Motor_Slave/Motor_Slave/Motor_Slave/main.c b/2_Motor_Slave/Motor_Slave/Motor_Slave/main.c index 5b529ca..079e31f 100644 --- a/2_Motor_Slave/Motor_Slave/Motor_Slave/main.c +++ b/2_Motor_Slave/Motor_Slave/Motor_Slave/main.c @@ -232,14 +232,14 @@ int main(void) custom_logic_enable(); enable_NVIC_IRQ(); - //DMAC->Channel[0].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE; - //DMAC->Channel[1].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE; - _dma_enable_transaction(CONF_SERCOM_1_RECEIVE_DMA_CHANNEL, false); - _dma_enable_transaction(CONF_SERCOM_1_TRANSMIT_DMA_CHANNEL, false); + DMAC->Channel[0].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE; + DMAC->Channel[1].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE; + //_dma_enable_transaction(CONF_SERCOM_1_RECEIVE_DMA_CHANNEL, false); + //_dma_enable_transaction(CONF_SERCOM_1_TRANSMIT_DMA_CHANNEL, false); //as5048a_init(&SPI_3, &AS_1); - ORIENTATION_SENSOR_0_init(); + //ORIENTATION_SENSOR_0_init(); angle_sensor_init(); diff --git a/Examples/ADS129X b/Examples/ADS129X new file mode 160000 index 0000000..e4bd32c --- /dev/null +++ b/Examples/ADS129X @@ -0,0 +1 @@ +Subproject commit e4bd32c5feec9d23b34b92f015dbf176bbbeafe5 diff --git a/Twincat/MotorData/.vs/MotorData/v15/.suo b/Twincat/MotorData/.vs/MotorData/v15/.suo index 92ed812..3ea1b8b 100644 Binary files a/Twincat/MotorData/.vs/MotorData/v15/.suo and b/Twincat/MotorData/.vs/MotorData/v15/.suo differ diff --git a/Twincat/MotorData/MotorData/MotorData.tsproj b/Twincat/MotorData/MotorData/MotorData.tsproj index 764d668..d32c3f0 100644 --- a/Twincat/MotorData/MotorData/MotorData.tsproj +++ b/Twincat/MotorData/MotorData/MotorData.tsproj @@ -5,8 +5,9 @@ + - + PlcTask @@ -113,39 +114,6 @@ GVL_motor_data.M2_Motor_dutyCycle INT - - GVL_motor_data.EMG_CH1 - - INT - - - GVL_motor_data.EMG_CH2 - INT - - - GVL_motor_data.EMG_CH3 - INT - - - GVL_motor_data.EMG_CH4 - INT - - - GVL_motor_data.EMG_CH5 - INT - - - GVL_motor_data.EMG_CH6 - INT - - - GVL_motor_data.EMG_CH7 - INT - - - GVL_motor_data.EMG_CH8 - INT - GVL_motor_data.M3_Mode BYTE @@ -155,6 +123,23 @@ BYTE + + GVL_motor_data.EMG_CH1 + + DINT + + + GVL_motor_data.EMG_CH2 + DINT + + + GVL_motor_data.EMG_CH3 + DINT + + + GVL_motor_data.EMG_CH4 + DINT + GVL_motor_data.M3_Joint_rel_position INT @@ -443,7 +428,7 @@ QSPI_rx_buffer #x02010030 20 - 10000000 + 1000000 @@ -453,28 +438,28 @@ QSPI_rx_buffer - + Device 2 (EtherCAT) - Ethernet (Realtek PCIe GbE Family Controller) - \DEVICE\{7A5E866B-9C27-4C9A-AB1A-3FD2FE6A43CC} - b025aa33135b + Ethernet (TwinCAT-Intel PCI Ethernet Adapter (Gigab + \DEVICE\{B319FB6B-ED15-445B-9318-290BECEEFA76} + 4c5262a1d9ac Image - - Box 2 (LAN9252-2_motor_Master) + + Box 1 (LAN9252-2_motor_Master) 1000 - + 001160000400010003000000000000000000001104010000 001880000000010004000000000000000000001800010000 0000000000000000001100020100000001000000000000000000000000000000 0000000000000000001800010100000002000000000000000000000000000000 - + BYTE @@ -541,152 +526,140 @@ QSPI_rx_buffer INT - INT + DINT - INT + DINT - INT + DINT + DINT + + INT - + INT - + INT - + INT - - INT - - - INT - - - INT - - - INT - - - INT - - + BYTE - + BYTE - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + BYTE - + BYTE - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + INT - + BYTE - + BYTE - + INT @@ -843,4 +816,102 @@ QSPI_rx_buffer + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_EMG.TcGVL b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_EMG.TcGVL new file mode 100644 index 0000000..c578111 --- /dev/null +++ b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_EMG.TcGVL @@ -0,0 +1,12 @@ + + + + + + \ No newline at end of file diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL index d2bacb5..97d429a 100644 --- a/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL +++ b/Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL @@ -1,5 +1,5 @@  - + {7999646c-51c9-45ae-9085-f34e5ecc5ec7} + + Code + true + Code true diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU index ec02da2..3411a90 100644 --- a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU +++ b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU @@ -1,14 +1,23 @@  - + - + + + diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU index c1f6007..e3bf6e0 100644 --- a/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU +++ b/Twincat/MotorData/MotorData/Motordata_PLC/POUs/POU_Position_Seq.TcPOU @@ -1,5 +1,5 @@  - + {38391c6d-6d4a-42f8-8ee7-9f45e5adafa8} - "POS_1.t > T#6s" + "POS_1.t > T#3s" "" 80L @@ -504,7 +504,7 @@ END_VAR {38391c6d-6d4a-42f8-8ee7-9f45e5adafa8} - "POS_2.t > T#6s" + "POS_2.t > T#3s" "" 125L @@ -687,7 +687,7 @@ END_VAR {38391c6d-6d4a-42f8-8ee7-9f45e5adafa8} - "POS_3.t > T#6s" + "POS_3.t > T#3s" "" 49L @@ -781,7 +781,35 @@ END_VAR - + + + {38391c6d-6d4a-42f8-8ee7-9f45e5adafa8} + + "" + "" + + 143L + 5L + + + {7d894980-aeea-405c-a0f6-e2b26429c58f} + + "" + "" + + 144L + 5L + + + {01580b27-6378-448b-8ecb-0e4b795b58d6} + + "FALSE" + "FALSE" + + 145L + 5L + + 5L -1L @@ -1073,7 +1101,7 @@ END_VAR - @@ -1092,8 +1120,8 @@ GVL_motor_data.M2_Desired_pos := 1000;]]> - + @@ -1224,8 +1252,8 @@ GVL_motor_data.M2_Desired_pos := 0;]]> - + diff --git a/Twincat/MotorData/MotorData/Motordata_PLC/PlcTask.TcTTO b/Twincat/MotorData/MotorData/Motordata_PLC/PlcTask.TcTTO index dc67fd4..ab7ded2 100644 --- a/Twincat/MotorData/MotorData/Motordata_PLC/PlcTask.TcTTO +++ b/Twincat/MotorData/MotorData/Motordata_PLC/PlcTask.TcTTO @@ -1,8 +1,8 @@  - + - 10000 + 1000 20 MAIN @@ -12,6 +12,5 @@ {5c5f5f84-e7f6-4c9f-8e6b-25d1b89465a8} {07b2fc7d-725f-4928-b7bb-1c1ddcb9a703} {49bd0358-5e57-44dd-9076-193288aeb9f7} - \ No newline at end of file diff --git a/Twincat/MotorData/Scope Project1.svdx b/Twincat/MotorData/Scope Project1.svdx new file mode 100644 index 0000000..f17bfa1 Binary files /dev/null and b/Twincat/MotorData/Scope Project1.svdx differ diff --git a/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex b/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex index 1bebd77..19e4ea7 100644 --- a/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex +++ b/Twincat/MotorData/TwinCAT Measurement Project1/Scope Project1.tcscopex @@ -15,12 +15,14 @@ false <?xml version="1.0" encoding="utf-16"?> <Layout> - <Window Guid="78cbee9f-0a39-403c-8595-676f5c6b5671" LastFocused="132736992270715186" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="a5d32a52-1886-4ce8-9970-731db69737a6" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> + <Window Guid="17812b7c-7d18-4668-ae12-d2633798b279" LastFocused="132742705121217503" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="a5d32a52-1886-4ce8-9970-731db69737a6" DocumentIndexInWindowGroup="1" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> + <Window Guid="8766837b-106b-4ca8-84ce-2fbbc3ef10f3" LastFocused="132742702609850464" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="a5d32a52-1886-4ce8-9970-731db69737a6" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> <DocumentContainer Dock="5"> <SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"> - <ControlLayoutSystem WorkingSize="250, 400" Guid="a5d32a52-1886-4ce8-9970-731db69737a6" Collapsed="0" SelectedControl="78cbee9f-0a39-403c-8595-676f5c6b5671"> + <ControlLayoutSystem WorkingSize="250, 400" Guid="a5d32a52-1886-4ce8-9970-731db69737a6" Collapsed="0" SelectedControl="17812b7c-7d18-4668-ae12-d2633798b279"> <Controls> - <Control Guid="78cbee9f-0a39-403c-8595-676f5c6b5671" /> + <Control Guid="8766837b-106b-4ca8-84ce-2fbbc3ef10f3" /> + <Control Guid="17812b7c-7d18-4668-ae12-d2633798b279" /> </Controls> </ControlLayoutSystem> </SplitLayoutSystem> @@ -41,10 +43,334 @@ 0 - 10.183.82.252.1.1 + 192.168.61.1.1.1 + Local + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + REAL32 + Black + true + 1 + false + 24de5fd2-67a3-4d17-9b2f-e37ef463e046 + 16448 + 385076 + false + false + EMG_CH1_uV + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_EMG.EMG_CH1_uV + 851 + 0 + AdsAcquisition_77 + true + true + 4 + + + 192.168.61.1.1.1 + Local + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + REAL32 + Black + true + 2 + false + 050df458-283b-4aab-9c50-02776e050173 + 16448 + 385080 + false + false + EMG_CH2_uV + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_EMG.EMG_CH2_uV + 851 + 0 + AdsAcquisition_77 + true + true + 4 + + + 192.168.61.1.1.1 + Local + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + REAL32 + Black + true + 3 + false + eda5e08a-a0c1-46d5-a386-55a53fe55cb8 + 16448 + 385084 + false + false + EMG_CH3_uV + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_EMG.EMG_CH3_uV + 851 + 0 + AdsAcquisition_77 + true + true + 4 + + + 192.168.61.1.1.1 + Local + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + REAL32 + Black + true + 4 + false + 72a5bcb2-9496-4a66-8ac2-c891ae65b624 + 16448 + 385088 + false + false + EMG_CH4_uV + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_EMG.EMG_CH4_uV + 851 + 0 + AdsAcquisition_77 + true + true + 4 + + + 192.168.61.1.1.1 Input 0 - 100000 + 10000 0 @@ -63,11 +389,11 @@ INT16 Black true - 1 + 5 false - a4b43477-a7f5-45df-ba58-5a1961bbb4e8 + 13dad77b-fd32-432c-abcb-0963197b16db 61472 - 385002 + 385092 false false M1_Joint_rel_position @@ -116,97 +442,16 @@ GVL_motor_data.M1_Joint_rel_position 851 0 - AdsAcquisition_124 + AdsAcquisition_77 true true 2 - 10.183.82.252.1.1 - Input - 0 - 100000 - - - 0 - - - TwinCAT - ADS - TcBinary - Present - - 0 - 0 - - - - INT16 - Black - true - 2 - false - 935b9dda-7837-4cf8-8f56-e1e264fc242b - 61472 - 385022 - false - false - M2_Joint_rel_position - 0 - - - 0 - None - 1 - none - - 1 - - 0 - - - - 0 - - 0 - none - (None) - 1 - - - 0 - 1 - - UnitOfOne - - 0 - None - - 0 - none - 1 - - none - - - 0 - 10 - - .svacq - true - GVL_motor_data.M2_Joint_rel_position - 851 - 0 - AdsAcquisition_124 - true - true - 2 - - - 10.183.82.252.1.1 + 192.168.61.1.1.1 Output 0 - 100000 + 10000 0 @@ -225,92 +470,11 @@ INT16 Black true - 3 + 6 false - 11e44e74-740b-4dd1-a66e-8b08c1ec7464 + cf06dfb5-6728-427c-a868-4f8a80c4ce1b 61488 - 450182 - false - false - M2_Desired_pos - 0 - - - 0 - None - 1 - none - - 1 - - 0 - - - - 0 - - 0 - none - (None) - 1 - - - 0 - 1 - - UnitOfOne - - 0 - None - - 0 - none - 1 - - none - - - 0 - 10 - - .svacq - true - GVL_motor_data.M2_Desired_pos - 851 - 0 - AdsAcquisition_124 - true - true - 2 - - - 10.183.82.252.1.1 - Output - 0 - 100000 - - - 0 - - - TwinCAT - ADS - TcBinary - Present - - 0 - 0 - - - - INT16 - Black - true - 4 - false - 63b92219-8a5d-4088-92fd-615eb88540be - 61488 - 385190 + 385212 false false M1_Desired_pos @@ -359,16 +523,16 @@ GVL_motor_data.M1_Desired_pos 851 0 - AdsAcquisition_124 + AdsAcquisition_77 true true 2 - 10.183.82.252.1.1 + 192.168.61.1.1.1 Input 0 - 100000 + 10000 0 @@ -387,14 +551,14 @@ INT16 Black true - 5 + 7 false - 0d4c4b39-03cd-442e-8061-e06b858e0bdb + 8d7766a1-e5c2-4084-b1e1-2a1cde8bc625 61472 - 385008 + 385112 false false - M1_Motor_current_bus + M2_Joint_rel_position 0 @@ -437,19 +601,19 @@ .svacq true - GVL_motor_data.M1_Motor_current_bus + GVL_motor_data.M2_Joint_rel_position 851 0 - AdsAcquisition_124 + AdsAcquisition_77 true true 2 - 10.183.82.252.1.1 - Input + 192.168.61.1.1.1 + Output 0 - 100000 + 10000 0 @@ -468,14 +632,14 @@ INT16 Black true - 6 + 8 false - 092e4270-4be2-41af-a1d7-8105aff42f22 - 61472 - 385028 + 8b889ab1-8104-4807-8962-50fc84d9d53b + 61488 + 385228 false false - M2_Motor_current_bus + M2_Desired_pos 0 @@ -518,10 +682,334 @@ .svacq true - GVL_motor_data.M2_Motor_current_bus + GVL_motor_data.M2_Desired_pos 851 0 - AdsAcquisition_124 + AdsAcquisition_77 + true + true + 2 + + + 192.168.61.1.1.1 + Input + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + INT16 + Black + true + 9 + false + 92af127e-8066-47e6-907d-f3e7f8932f20 + 61472 + 385148 + false + false + M3_Joint_rel_position + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_motor_data.M3_Joint_rel_position + 851 + 0 + AdsAcquisition_77 + true + true + 2 + + + 192.168.61.1.1.1 + Output + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + INT16 + Black + true + 10 + false + 18d32ea4-6af2-440c-b6ce-6c8e7e4d7815 + 61488 + 385244 + false + false + M3_Desired_pos + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_motor_data.M3_Desired_pos + 851 + 0 + AdsAcquisition_77 + true + true + 2 + + + 192.168.61.1.1.1 + Input + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + INT16 + Black + true + 11 + false + 6ac2c5bb-eae6-475a-b849-7e5b7c9c9565 + 61472 + 385168 + false + false + M4_Joint_rel_position + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_motor_data.M4_Joint_rel_position + 851 + 0 + AdsAcquisition_77 + true + true + 2 + + + 192.168.61.1.1.1 + Output + 0 + 10000 + + + 0 + + + TwinCAT + ADS + TcBinary + Present + + 0 + 0 + + + + INT16 + Black + true + 12 + false + 1e7a9f36-2614-4cf7-b72a-1117927e93e9 + 61488 + 385260 + false + false + M4_Desired_pos + 0 + + + 0 + None + 1 + none + + 1 + + 0 + + + + 0 + + 0 + none + (None) + 1 + + + 0 + 1 + + UnitOfOne + + 0 + None + + 0 + none + 1 + + none + + + 0 + 10 + + .svacq + true + GVL_motor_data.M4_Desired_pos + 851 + 0 + AdsAcquisition_77 true true 2 @@ -530,6 +1018,17 @@ .svdp DataPool_85 + + + Black + edd388f8-a158-4cab-b19b-e61383271ec9 + false + Trigger + 100 + + .svtm + TriggerModule_97 + 0 true @@ -538,32 +1037,93 @@ -986896 false -16777216 - 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