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thesis_bldc_controller/Twincat/MotorData/MotorData/MotorData.tsproj

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<?xml version="1.0"?>
<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.11">
<ImageDatas>
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</ImageDatas>
<Project ProjectGUID="{627AF960-8AD6-492C-BE55-42F15976A40C}" Target64Bit="true" ShowHideConfigurations="#x106">
<System>
<Tasks>
<Task Id="3" Priority="20" CycleTime="100000" AmsPort="350" AdtTasks="true">
<Name>PlcTask</Name>
</Task>
</Tasks>
</System>
<Plc>
<Project GUID="{4AE346CD-C7CE-4990-9940-2D1E689DC225}" Name="Motordata_PLC" PrjFilePath="Motordata_PLC\Motordata_PLC.plcproj" TmcFilePath="Motordata_PLC\Motordata_PLC.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
<Name>Motordata_PLC Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
<Name>PlcTask Inputs</Name>
<Var>
<Name>GVL_motor_data.Status</Name>
<Comment><![CDATA[ Input ]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.Mode</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.Com_State</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.act_pos</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.PH_A</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.PH_B</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.PH_C</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.Error</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.Phase_Current</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.Speed</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.Duty</Name>
<Type>INT</Type>
</Var>
</Vars>
<Vars VarGrpType="2" AreaNo="1">
<Name>PlcTask Outputs</Name>
<Var>
<Name>GVL_motor_data.op_Mode</Name>
<Comment><![CDATA[ Output ]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.des_pos</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.des_max_current</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.des_current</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.des_speed</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.I_kp</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.I_ki</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.V_kp</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.V_kd</Name>
<Type>INT</Type>
</Var>
</Vars>
<Contexts>
<Context>
<Id NeedCalleeCall="true">0</Id>
<Name>PlcTask</Name>
<ManualConfig>
<OTCID>#x02010030</OTCID>
</ManualConfig>
<Priority>20</Priority>
<CycleTime>10000000</CycleTime>
</Context>
</Contexts>
<TaskPouOids>
<TaskPouOid Prio="20" OTCID="#x08502001"/>
</TaskPouOids>
</Instance>
</Project>
</Plc>
<Io>
<Device Id="2" DevType="111" DevFlags="#x0003" AmsPort="28674" AmsNetId="192.168.61.1.3.1" RemoteName="Device 2 (EtherCAT)">
<Name>Device 2 (EtherCAT)</Name>
<AddressInfo>
<Pnp>
<DeviceDesc>Ethernet (TwinCAT-Intel PCI Ethernet Adapter (Gigab</DeviceDesc>
<DeviceName>\DEVICE\{B319FB6B-ED15-445B-9318-290BECEEFA76}</DeviceName>
<DeviceData>4c5262a1d9ac</DeviceData>
</Pnp>
</AddressInfo>
<Image Id="1" AddrType="9" ImageType="3">
<Name>Image</Name>
</Image>
<Box Id="1" BoxType="9099">
<Name>Box 1 (LAN9252-2_motor_Master)</Name>
<ImageId>1000</ImageId>
<EtherCAT SlaveType="1" PdiType="#x3180" CycleMBoxPollingTime="0" VendorId="#x000004d8" ProductCode="#x00000002" RevisionNo="#x00000005" PortPhys="17" IdentificationAdo="18" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="MSRM 2_motor_Master Ethercat Slave" Desc="LAN9252-2_motor_Master" PortABoxInfo="#x00ffffff">
<SyncMan>001140000400010003000000000000000000001104010000</SyncMan>
<SyncMan>001878000000010004000000000000000000001800010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000001800010100000002000000000000000000000000000000</Fmmu>
<Pdo Name="MCU2ECAT" Index="#x1600" Flags="#x0010" SyncMan="1">
<Entry Name="M1__status" Index="#x3001" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M1__mode" Index="#x3002" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M1__Joint_rel_position" Index="#x3003" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Joint_abs_position" Index="#x3004" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_speed" Index="#x3005" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_current_bus" Index="#x3006" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_currentPhA" Index="#x3007" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_currentPhB" Index="#x3008" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_currentPhC" Index="#x3009" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_hallState" Index="#x300a" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Motor_dutyCycle" Index="#x300b" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__status" Index="#x300c" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M2__mode" Index="#x300d" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M2__Joint__rel_position" Index="#x300e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Joint_abs_position" Index="#x300f" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_speed" Index="#x3010" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_current_bus" Index="#x3011" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_currentPhA" Index="#x3012" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_currentPhB" Index="#x3013" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_currentPhC" Index="#x3014" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_hallState" Index="#x3015" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Motor_dutyCycle" Index="#x3016" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH1" Index="#x3017" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH2" Index="#x3018" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH3" Index="#x3019" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH4" Index="#x301a" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH5" Index="#x301b" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH6" Index="#x301c" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH7" Index="#x301d" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="EMG__CH8" Index="#x301e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__status" Index="#x301f" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M3__mode" Index="#x3020" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M3__Joint__rel_position" Index="#x3021" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Joint_abs_position" Index="#x3022" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_speed" Index="#x3023" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_current_bus" Index="#x3024" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_currentPhA" Index="#x3025" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_currentPhB" Index="#x3026" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_currentPhC" Index="#x3027" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_hallState" Index="#x3028" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Motor_dutyCycle" Index="#x3029" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__status" Index="#x302a" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M4__mode" Index="#x302b" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M4__Joint__rel_position" Index="#x302c" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Joint_abs_position" Index="#x302d" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_speed" Index="#x302e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_current_bus" Index="#x302f" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_currentPhA" Index="#x3030" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_currentPhB" Index="#x3031" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_currentPhC" Index="#x3032" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_hallState" Index="#x3033" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Motor_dutyCycle" Index="#x3034" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="IMU__q_x0" Index="#x3035" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="IMU__q_y0" Index="#x3036" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="IMU__q_z0" Index="#x3037" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="IMU__q_w0" Index="#x3038" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="FSR__CH1" Index="#x3039" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="FSR__CH2" Index="#x303a" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="FSR__CH3" Index="#x303b" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="FSR__CH4" Index="#x303c" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="FSR__CH5" Index="#x303d" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="Pressure__CH1" Index="#x303e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="Pressure__CH2" Index="#x303f" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="Pressure__CH3" Index="#x3040" Sub="#x01">
<Type>INT</Type>
</Entry>
</Pdo>
<Pdo Name="ECAT2MCU" Index="#x1a00" InOut="1" Flags="#x0010" SyncMan="0">
<Entry Name="M1__control_mode" Index="#x3101" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M1__control_set" Index="#x3102" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M1__desired_position" Index="#x3103" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__desired_speed" Index="#x3104" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__desired__current" Index="#x3105" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Max_Pos" Index="#x3106" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Max_velocity" Index="#x3107" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Max_current" Index="#x3108" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M1__Spare" Index="#x3109" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__control_mode" Index="#x310a" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M2__control_set" Index="#x310b" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M2__desired_position" Index="#x310c" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__desired_speed" Index="#x310d" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__desired__current" Index="#x310e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Max_Pos" Index="#x310f" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Max_velocity" Index="#x3110" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Max_current" Index="#x3111" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M2__Spare" Index="#x3112" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__control_mode" Index="#x3113" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M3__control_set" Index="#x3114" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M3__desired_position" Index="#x3115" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__desired_speed" Index="#x3116" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__desired__current" Index="#x3117" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Max_Pos" Index="#x3118" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Max_velocity" Index="#x3119" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Max_current" Index="#x311a" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M3__Spare" Index="#x311b" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__control_mode" Index="#x311c" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M4__control_set" Index="#x311d" Sub="#x01">
<Type>BYTE</Type>
</Entry>
<Entry Name="M4__desired_position" Index="#x311e" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__desired_speed" Index="#x311f" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__desired__current" Index="#x3120" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Max_Pos" Index="#x3121" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Max_velocity" Index="#x3122" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Max_current" Index="#x3123" Sub="#x01">
<Type>INT</Type>
</Entry>
<Entry Name="M4__Spare" Index="#x3124" Sub="#x01">
<Type>INT</Type>
</Entry>
</Pdo>
</EtherCAT>
</Box>
<EtherCAT/>
</Device>
</Io>
</Project>
</TcSmProject>
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