290 lines
15 KiB
C
290 lines
15 KiB
C
#include "esc_coe.h"
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#include "utypes.h"
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#include <stddef.h>
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#ifndef HW_REV
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#define HW_REV "1.0"
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#endif
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#ifndef SW_REV
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#define SW_REV "1.0"
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#endif
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static const char acName1000[] = "Device Type";
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static const char acName1008[] = "Device Name";
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static const char acName1009[] = "Hardware Version";
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static const char acName100A[] = "Software Version";
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static const char acName1018[] = "Identity Object";
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static const char acName1018_00[] = "Max SubIndex";
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static const char acName1018_01[] = "Vendor ID";
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static const char acName1018_02[] = "Product Code";
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static const char acName1018_03[] = "Revision Number";
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static const char acName1018_04[] = "Serial Number";
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static const char acName10F1[] = "ErrorSettings";
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static const char acName10F1_00[] = "Max SubIndex";
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static const char acName10F1_01[] = "Local Error Reaction";
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static const char acName10F1_02[] = "SyncErrorCounterLimit";
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static const char acName1600[] = "RXPDO 1";
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static const char acName1600_00[] = "Max SubIndex";
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static const char acName1600_01[] = "LED0";
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static const char acName1601[] = "RXPDO 2";
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static const char acName1601_00[] = "Max SubIndex";
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static const char acName1601_01[] = "LED1";
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static const char acName1602[] = "RXPDO 3";
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static const char acName1602_00[] = "Max SubIndex";
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static const char acName1602_01[] = "PDO Entry 1602:01";
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static const char acName1602_02[] = "PDO Entry 1602:02";
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static const char acName1602_03[] = "PDO Entry 1602:03";
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static const char acName1602_04[] = "PDO Entry 1602:04";
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static const char acName1602_05[] = "PDO Entry 1602:05";
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static const char acName1602_06[] = "PDO Entry 1602:06";
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static const char acName1602_07[] = "PDO Entry 1602:07";
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static const char acName1602_08[] = "PDO Entry 1602:08";
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static const char acName1A00[] = "TXPDO 1";
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static const char acName1A00_00[] = "Max SubIndex";
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static const char acName1A00_01[] = "Button1";
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static const char acName1A01[] = "TXPDO 2";
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static const char acName1A01_00[] = "Max SubIndex";
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static const char acName1A01_01[] = "PDO Entry 1A01:01";
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static const char acName1A01_02[] = "PDO Entry 1A01:02";
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static const char acName1A01_03[] = "PDO Entry 1A01:03";
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static const char acName1A01_04[] = "PDO Entry 1A01:04";
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static const char acName1A01_05[] = "PDO Entry 1A01:05";
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static const char acName1A01_06[] = "PDO Entry 1A01:06";
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static const char acName1A01_07[] = "PDO Entry 1A01:07";
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static const char acName1A01_08[] = "PDO Entry 1A01:08";
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static const char acName1C00[] = "Sync Manager Communication Type";
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static const char acName1C00_00[] = "Max SubIndex";
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static const char acName1C00_01[] = "Communications Type SM0";
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static const char acName1C00_02[] = "Communications Type SM1";
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static const char acName1C00_03[] = "Communications Type SM2";
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static const char acName1C00_04[] = "Communications Type SM3";
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static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
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static const char acName1C12_00[] = "Max SubIndex";
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static const char acName1C12_01[] = "PDO Mapping";
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static const char acName1C12_02[] = "PDO Mapping";
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static const char acName1C12_03[] = "SM Entry 1C12:03";
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static const char acName1C12_04[] = "SM Entry 1C12:04";
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static const char acName1C12_05[] = "SM Entry 1C12:05";
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static const char acName1C12_06[] = "SM Entry 1C12:06";
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static const char acName1C12_07[] = "SM Entry 1C12:07";
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static const char acName1C12_08[] = "SM Entry 1C12:08";
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static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
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static const char acName1C13_00[] = "Max SubIndex";
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static const char acName1C13_01[] = "PDO Mapping";
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static const char acName1C13_02[] = "SM Entry 1C13:02";
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static const char acName1C13_03[] = "SM Entry 1C13:03";
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static const char acName1C13_04[] = "SM Entry 1C13:04";
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static const char acName1C13_05[] = "SM Entry 1C13:05";
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static const char acName1C13_06[] = "SM Entry 1C13:06";
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static const char acName1C13_07[] = "SM Entry 1C13:07";
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static const char acName1C13_08[] = "SM Entry 1C13:08";
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static const char acName1C32[] = "SyncMgrParam";
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static const char acName1C32_00[] = "Max SubIndex";
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static const char acName1C32_01[] = "Sync mode";
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static const char acName1C32_02[] = "CycleTime";
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static const char acName1C32_03[] = "ShiftTime";
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static const char acName1C32_04[] = "Sync modes supported";
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static const char acName1C32_05[] = "Minimum Cycle Time";
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static const char acName1C32_06[] = "Calc and Copy Time";
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static const char acName1C32_07[] = "Minimum Delay Time";
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static const char acName1C32_08[] = "GetCycleTime";
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static const char acName1C32_09[] = "DelayTime";
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static const char acName1C32_0A[] = "Sync0CycleTime";
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static const char acName1C32_0B[] = "SMEventMissedCnt";
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static const char acName1C32_0C[] = "CycleTimeTooSmallCnt";
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static const char acName1C32_0D[] = "Shift too short counter";
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static const char acName1C32_0E[] = "RxPDOToggleFailed";
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static const char acName1C32_0F[] = "Minimum Cycle Distance";
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static const char acName1C32_10[] = "Maximum Cycle Distance";
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static const char acName1C32_11[] = "Minimum SM Sync Distance";
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static const char acName1C32_12[] = "Maximum SM Sync Distance";
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static const char acName1C32_20[] = "SyncError";
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static const char acName6000[] = "Buttons";
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static const char acName6000_00[] = "Max SubIndex";
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static const char acName6000_01[] = "Button1";
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static const char acName7000[] = "LEDgroup0";
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static const char acName7000_00[] = "Max SubIndex";
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static const char acName7000_01[] = "LED0";
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static const char acName7001[] = "LEDgroup1";
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static const char acName7001_00[] = "Max SubIndex";
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static const char acName7001_01[] = "LED1";
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static const char acName8000[] = "Parameters";
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static const char acName8000_00[] = "Max SubIndex";
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static const char acName8000_01[] = "Multiplier";
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static const char acName8001[] = "variableRW";
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const _objd SDO1000[] =
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{
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{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 0x00001389, NULL},
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};
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const _objd SDO1008[] =
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{
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{0x0, DTYPE_VISIBLE_STRING, 80, ATYPE_RO, acName1008, 0, "xmc48relax"},
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};
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const _objd SDO1009[] =
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{
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{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName1009, 0, HW_REV},
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};
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const _objd SDO100A[] =
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{
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{0x0, DTYPE_VISIBLE_STRING, 24, ATYPE_RO, acName100A, 0, SW_REV},
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};
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const _objd SDO1018[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 0x1337, NULL},
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{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 0x4800, NULL},
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{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 0, NULL},
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{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 0x00000000, &Obj.serial},
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};
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const _objd SDO10F1[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName10F1_00, 2, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName10F1_01, 0, &Obj.ErrorSettings.Local_Error_Reaction},
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{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName10F1_02, 2, &Obj.ErrorSettings.SyncErrorCounterLimit},
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};
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const _objd SDO1600[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
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};
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const _objd SDO1601[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010108, NULL},
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};
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const _objd SDO1602[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1602_00, 8, &Obj.PDO1602.maxsub},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_01, 0x00000000, &Obj.PDO1602.value[0]},
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{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_02, 0x00000000, &Obj.PDO1602.value[1]},
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{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_03, 0x00000000, &Obj.PDO1602.value[2]},
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{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_04, 0x00000000, &Obj.PDO1602.value[3]},
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{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_05, 0x00000000, &Obj.PDO1602.value[4]},
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{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_06, 0x00000000, &Obj.PDO1602.value[5]},
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{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_07, 0x00000000, &Obj.PDO1602.value[6]},
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{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1602_08, 0x00000000, &Obj.PDO1602.value[7]},
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};
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const _objd SDO1A00[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000108, NULL},
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};
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const _objd SDO1A01[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1A01_00, 8, &Obj.PDO1A01.maxsub},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_01, 0x00000000, &Obj.PDO1A01.value[0]},
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{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_02, 0x00000000, &Obj.PDO1A01.value[1]},
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{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_03, 0x00000000, &Obj.PDO1A01.value[2]},
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{0x04, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_04, 0x00000000, &Obj.PDO1A01.value[3]},
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{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_05, 0x00000000, &Obj.PDO1A01.value[4]},
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{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_06, 0x00000000, &Obj.PDO1A01.value[5]},
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{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_07, 0x00000000, &Obj.PDO1A01.value[6]},
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{0x08, DTYPE_UNSIGNED32, 32, ATYPE_RWpre, acName1A01_08, 0x00000000, &Obj.PDO1A01.value[7]},
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};
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const _objd SDO1C00[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_01, 1, NULL},
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{0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_02, 2, NULL},
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{0x03, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_03, 3, NULL},
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{0x04, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_04, 4, NULL},
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};
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const _objd SDO1C12[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C12_00, 8, &Obj.SM1C12.maxsub},
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{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_01, 0x1600, &Obj.SM1C12.value[0]},
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{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_02, 0x1601, &Obj.SM1C12.value[1]},
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{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_03, 0x0000, &Obj.SM1C12.value[2]},
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{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_04, 0x0000, &Obj.SM1C12.value[3]},
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{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_05, 0x0000, &Obj.SM1C12.value[4]},
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{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_06, 0x0000, &Obj.SM1C12.value[5]},
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{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_07, 0x0000, &Obj.SM1C12.value[6]},
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{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C12_08, 0x0000, &Obj.SM1C12.value[7]},
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};
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const _objd SDO1C13[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RWpre, acName1C13_00, 8, &Obj.SM1C13.maxsub},
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{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_01, 0x1A00, &Obj.SM1C13.value[0]},
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{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_02, 0x0000, &Obj.SM1C13.value[1]},
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{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_03, 0x0000, &Obj.SM1C13.value[2]},
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{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_04, 0x0000, &Obj.SM1C13.value[3]},
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{0x05, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_05, 0x0000, &Obj.SM1C13.value[4]},
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{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_06, 0x0000, &Obj.SM1C13.value[5]},
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{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_07, 0x0000, &Obj.SM1C13.value[6]},
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{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RWpre, acName1C13_08, 0x0000, &Obj.SM1C13.value[7]},
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};
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const _objd SDO1C32[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C32_00, 32, NULL},
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{0x01, DTYPE_UNSIGNED16, 16, ATYPE_RW, acName1C32_01, 0, &Obj.SyncMgrParam.Sync_mode},
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{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_02, 0, &Obj.SyncMgrParam.CycleTime},
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{0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_03, 0, &Obj.SyncMgrParam.ShiftTime},
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{0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_04, 0, &Obj.SyncMgrParam.Sync_modes_supported},
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{0x05, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_05, 125000, &Obj.SyncMgrParam.Minimum_Cycle_Time},
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{0x06, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_06, 0, &Obj.SyncMgrParam.Calc_and_Copy_Time},
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{0x07, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_07, 0, &Obj.SyncMgrParam.Minimum_Delay_Time},
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{0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_08, 0, &Obj.SyncMgrParam.GetCycleTime},
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{0x09, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_09, 0, &Obj.SyncMgrParam.DelayTime},
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{0x0A, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0A, 0, &Obj.SyncMgrParam.Sync0CycleTime},
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{0x0B, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0B, 0, &Obj.SyncMgrParam.SMEventMissedCnt},
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{0x0C, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0C, 0, &Obj.SyncMgrParam.CycleTimeTooSmallCnt},
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{0x0D, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0D, 0, &Obj.SyncMgrParam.Shift_too_short_counter},
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{0x0E, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C32_0E, 0, &Obj.SyncMgrParam.RxPDOToggleFailed},
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{0x0F, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_0F, 0, &Obj.SyncMgrParam.Minimum_Cycle_Distance},
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{0x10, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_10, 0, &Obj.SyncMgrParam.Maximum_Cycle_Distance},
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{0x11, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_11, 0, &Obj.SyncMgrParam.Minimum_SM_Sync_Distance},
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{0x12, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1C32_12, 0, &Obj.SyncMgrParam.Maximum_SM_Sync_Distance},
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{0x20, DTYPE_BOOLEAN, 1, ATYPE_RO, acName1C32_20, 0, &Obj.SyncMgrParam.SyncError},
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};
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const _objd SDO6000[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6000_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_TXPDO, acName6000_01, 0, &Obj.Buttons.Button1},
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};
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const _objd SDO7000[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7000_01, 0, &Obj.LEDgroup0.LED0},
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};
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const _objd SDO7001[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7001_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7001_01, 0, &Obj.LEDgroup1.LED1},
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};
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const _objd SDO8000[] =
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{
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{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName8000_00, 1, NULL},
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{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName8000_01, 0, &Obj.Parameters.Multiplier},
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};
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const _objd SDO8001[] =
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{
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{0x0, DTYPE_UNSIGNED32, 32, ATYPE_RW, acName8001, 0, &Obj.variableRW},
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};
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const _objectlist SDOobjects[] =
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{
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{0x1000, OTYPE_VAR, 0, 0, acName1000, SDO1000},
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{0x1008, OTYPE_VAR, 0, 0, acName1008, SDO1008},
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{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
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{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
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{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
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{0x10F1, OTYPE_RECORD, 2, 0, acName10F1, SDO10F1},
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{0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
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{0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
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{0x1602, OTYPE_RECORD, 8, 0, acName1602, SDO1602},
|
|
{0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
|
|
{0x1A01, OTYPE_RECORD, 8, 0, acName1A01, SDO1A01},
|
|
{0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
|
|
{0x1C12, OTYPE_ARRAY, 8, 0, acName1C12, SDO1C12},
|
|
{0x1C13, OTYPE_ARRAY, 8, 0, acName1C13, SDO1C13},
|
|
{0x1C32, OTYPE_RECORD, 19, 0, acName1C32, SDO1C32},
|
|
{0x6000, OTYPE_RECORD, 1, 0, acName6000, SDO6000},
|
|
{0x7000, OTYPE_RECORD, 1, 0, acName7000, SDO7000},
|
|
{0x7001, OTYPE_RECORD, 1, 0, acName7001, SDO7001},
|
|
{0x8000, OTYPE_RECORD, 1, 0, acName8000, SDO8000},
|
|
{0x8001, OTYPE_VAR, 0, 0, acName8001, SDO8001},
|
|
{0xffff, 0xff, 0xff, 0xff, NULL, NULL}
|
|
};
|