335 lines
12 KiB
XML
335 lines
12 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.8">
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<Vendor>
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<Id>#x000004D8</Id>
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<Name>Microchip Technology Inc</Name>
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</Vendor>
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<Descriptions>
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<Groups>
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<Group>
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<Type>LAN9252-BLDC</Type>
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<Name LcId="1033">LAN9252-BLDC</Name>
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<ImageData16x14>424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000</ImageData16x14>
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</Group>
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</Groups>
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<Devices>
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<Device Physics="YY">
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<Type ProductCode="#x00000002" RevisionNo="#x00000003">LAN9252-BLDC</Type>
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<Name LcId="1033"><![CDATA[MSRM BLDC Ethercat Slave]]></Name>
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<Info>
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<EtherCATController>
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<DpramSize>4096</DpramSize>
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<SmCount>4</SmCount>
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<FmmuCount>3</FmmuCount>
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</EtherCATController>
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<Port>
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<Type>MII</Type>
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<PhysicalPhyAddr>0</PhysicalPhyAddr>
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</Port>
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<Port>
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<Type>MII</Type>
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<PhysicalPhyAddr>1</PhysicalPhyAddr>
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</Port>
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<IdentificationAdo>#x0012</IdentificationAdo>
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</Info>
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<GroupType>LAN9252-BLDC</GroupType>
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<Fmmu>Outputs</Fmmu>
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<Fmmu>Inputs</Fmmu>
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<Sm StartAddress="#x1100" ControlByte="#x04" Enable="1">Outputs</Sm>
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<Sm StartAddress="#x1800" ControlByte="0" Enable="1">Inputs</Sm>
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<RxPdo Fixed="1" Sm="0">
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<Index>#x1a00</Index>
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<Name>ECAT2MCU</Name>
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<Entry>
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<Index>#x3101</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>control__mode</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3102</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>control__set</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3103</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>desired__position</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3104</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>desired__speed</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3105</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>desired__torque</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3106</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__I_kp</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3107</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__I_ki</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3108</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__V_kp</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3109</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__V_kd</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x310A</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__P_kp</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x310B</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__P_ki</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x310C</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>controlparam__ReductionRatio</Name>
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<DataType>UINT</DataType>
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</Entry>
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<Entry>
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<Index>#x310D</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>max__torque</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x310E</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>max__current</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x310F</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>max__velocity</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3110</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare1</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3111</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare2</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3112</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare3</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3113</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare4</Name>
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<DataType>INT</DataType>
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</Entry>
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</RxPdo>
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<TxPdo Fixed="1" Sm="1">
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<Index>#x1600</Index>
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<Name>MCU2ECAT</Name>
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<Entry>
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<Index>#x3001</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>status</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3002</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>mode</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3003</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Joint__rel_position</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3004</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Joint__rel_revolution</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3005</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Joint__abs_postion</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3006</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Joint__speed</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3007</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Joint__torque</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3008</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__rel_revolution</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3009</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__rel_position</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x300A</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__abs_position</Name>
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<DataType>UINT</DataType>
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</Entry>
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<Entry>
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<Index>#x300B</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__dutyCycle</Name>
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<DataType>UINT</DataType>
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</Entry>
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<Entry>
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<Index>#x300C</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__speed</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x300D</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__torque</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x300E</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__currentPhA</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x300F</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__currentPhB</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3010</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__currentPhC</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3011</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Motor__currentBus</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3012</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>Motor__hallState</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3013</Index>
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<SubIndex>1</SubIndex>
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<BitLen>8</BitLen>
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<Name>Motor__sparebyte</Name>
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<DataType>BYTE</DataType>
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</Entry>
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<Entry>
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<Index>#x3014</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare1</Name>
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<DataType>INT</DataType>
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</Entry>
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<Entry>
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<Index>#x3015</Index>
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<SubIndex>1</SubIndex>
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<BitLen>16</BitLen>
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<Name>Spare__spare2</Name>
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<DataType>INT</DataType>
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</Entry>
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</TxPdo>
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<Eeprom>
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<ByteSize>2048</ByteSize>
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<ConfigData>803100CC1000F0FF</ConfigData>
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</Eeprom>
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</Device>
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</Devices>
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</Descriptions>
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</EtherCATInfo> |