mirror of
https://github.com/OpenEtherCATsociety/SOEM.git
synced 2026-03-24 08:53:27 +08:00
108 lines
3.7 KiB
XML
108 lines
3.7 KiB
XML
<?xml version="1.0"?>
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<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATConfig.xsd" Version="1.3">
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<Config>
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<Master>
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<Info>
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<Name><![CDATA[SOEM sample master]]></Name>
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<Destination>ffffffffffff</Destination>
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<Source>010101010101</Source>
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</Info>
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</Master>
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<Slave>
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<Info>
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<Name><![CDATA[Sample device A]]></Name>
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<VendorId>1</VendorId>
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<ProductCode>0x1234</ProductCode>
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<RevisionNo>0</RevisionNo>
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<SerialNo>0</SerialNo>
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</Info>
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<Mailbox>
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<Send>
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<Start>0x1000</Start>
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<Length>128</Length>
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</Send>
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<Receive>
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<Start>0x1100</Start>
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<Length>128</Length>
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<PollTime>5</PollTime>
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</Receive>
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<Protocol>CoE</Protocol>
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<CoE>
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<InitCmds>
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<InitCmd>
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<Comment><![CDATA[Clear SM3 PDO count]]></Comment>
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<Transition>PS</Transition>
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<Timeout>3</Timeout>
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<Ccs>2</Ccs>
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<Index>0x1c13</Index>
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<SubIndex>0</SubIndex>
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<Data>00</Data>
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</InitCmd>
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<InitCmd>
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<Comment><![CDATA[SM3 RxPDO #1: 0x1A02]]></Comment>
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<Transition>PS</Transition>
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<Timeout>3</Timeout>
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<Ccs>2</Ccs>
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<Index>0x1c13</Index>
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<SubIndex>1</SubIndex>
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<Data>021a</Data>
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</InitCmd>
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<InitCmd>
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<Comment><![CDATA[SM3 RxPDO #2: 0x1A05]]></Comment>
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<Transition>PS</Transition>
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<Timeout>3</Timeout>
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<Ccs>2</Ccs>
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<Index>0x1c13</Index>
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<SubIndex>2</SubIndex>
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<Data>051a</Data>
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</InitCmd>
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<InitCmd>
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<Comment><![CDATA[Set SM3 PDO count]]></Comment>
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<Transition>PS</Transition>
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<Timeout>3</Timeout>
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<Ccs>2</Ccs>
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<Index>0x1c13</Index>
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<SubIndex>0</SubIndex>
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<Data>02</Data>
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</InitCmd>
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</InitCmds>
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</CoE>
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</Mailbox>
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</Slave>
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<Slave>
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<Info>
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<Name><![CDATA[Sample device B]]></Name>
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<VendorId>1</VendorId>
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<ProductCode>0x10055aa</ProductCode>
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<RevisionNo>0</RevisionNo>
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<SerialNo>0</SerialNo>
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</Info>
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<Mailbox>
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<Send>
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<Start>0x1000</Start>
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<Length>256</Length>
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</Send>
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<Receive>
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<Start>0x1200</Start>
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<Length>256</Length>
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<PollTime>5</PollTime>
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</Receive>
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<Protocol>CoE</Protocol>
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<CoE>
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<InitCmds>
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<InitCmd CompleteAccess="1">
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<Comment><![CDATA[SM2 PDO assignment, using CA]]></Comment>
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<Transition>PS</Transition>
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<Timeout>3</Timeout>
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<Ccs>2</Ccs>
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<Index>0x1c12</Index>
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<SubIndex>0</SubIndex>
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<Data>0300011607161c16</Data>
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</InitCmd>
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</InitCmds>
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</CoE>
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</Mailbox>
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</Slave>
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</Config>
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</EtherCATConfig>
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