7.linuxcnc-ethercat的xml文件

ethercat-conf-csp.xml文件

格式说明参考2.linuxcnc-ethercat的xml格式

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
    <slave idx="0" type="generic" vid="0000066F" pid="60380006" configPdos="true">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="ModesOfOperation" halType="s32"/>
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
                <pdoEntry idx="60B0" subIdx="00" bitLen="32" halPin="PositionOffset" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="ErrorCode" halType="u32"/>
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="ModesOfOperationDisplay" halType="s32"/>
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="PositionActualValue" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DigitalInputs" halType="u32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="400000"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="1" type="generic" vid="0000066F" pid="60380006" configPdos="true">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="ModesOfOperation" halType="s32"/>
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
                <pdoEntry idx="60B0" subIdx="00" bitLen="32" halPin="PositionOffset" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="ErrorCode" halType="u32"/>
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="ModesOfOperationDisplay" halType="s32"/>
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="PositionActualValue" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DigitalInputs" halType="u32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="400000"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="2" type="generic" vid="0000066F" pid="60380006" configPdos="true">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="ModesOfOperation" halType="s32"/>
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
                <pdoEntry idx="60B0" subIdx="00" bitLen="32" halPin="PositionOffset" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="ErrorCode" halType="u32"/>
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="ModesOfOperationDisplay" halType="s32"/>
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="PositionActualValue" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DigitalInputs" halType="u32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="400000"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="3" type="generic" vid="0000066F" pid="60380006" configPdos="true">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="ModesOfOperation" halType="s32"/>
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
                <pdoEntry idx="60B0" subIdx="00" bitLen="32" halPin="PositionOffset" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="ErrorCode" halType="u32"/>
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="ModesOfOperationDisplay" halType="s32"/>
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="PositionActualValue" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DigitalInputs" halType="u32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="400000"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="4" type="generic" vid="0000066F" pid="60380006" configPdos="true">
        <syncManager idx="0" dir="out">
        </syncManager>
        <syncManager idx="1" dir="in">
        </syncManager>
        <syncManager idx="2" dir="out">
            <pdo idx="1600">
                <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="Controlword" halType="u32"/>
                <pdoEntry idx="6060" subIdx="00" bitLen="8"  halPin="ModesOfOperation" halType="s32"/>
                <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="TargetPosition" halType="s32"/>
                <pdoEntry idx="60B0" subIdx="00" bitLen="32" halPin="PositionOffset" halType="s32"/>
                <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="TargetVelocity" halType="s32"/>
            </pdo>
        </syncManager>
        <syncManager idx="3" dir="in">
            <pdo idx="1A00">
                <pdoEntry idx="603f" subIdx="00" bitLen="16" halPin="ErrorCode" halType="u32"/>
                <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="Statusword" halType="u32"/>
                <pdoEntry idx="6061" subIdx="00" bitLen="8"  halPin="ModesOfOperationDisplay" halType="s32"/>
                <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="PositionActualValue" halType="s32"/>
                <pdoEntry idx="60FD" subIdx="00" bitLen="32" halPin="DigitalInputs" halType="u32"/>
            </pdo>
        </syncManager>
        <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="400000"/>
        <watchdog divider="2498" intervals="1000"/>
    </slave>
    <slave idx="5" type="EK1100"/>
    <slave idx="6" type="EL1008"/>
  </master>
</masters>