Hi,
I have problems to generate the correct Simulink Slave block from the
'.xml'- file below. I'm missing all the subindices in Simulink block
in- and outputports. I use the setup.m file in
opt/etherlab/rtw/blocks/EtherCAT/xml/ to generate the .mat file for the
Simulink block.
We are working with MATLAB2007b and EtherLab® Bundle 1.6.
Best Regards
Dipl.-Math. Dominik Karolewski
Mitarbeiter
IMMS Institut für Mikroelektronik- und Mechatronik-Systeme gGmbH
Ehrenbergstrasse 27
D - 98693 Ilmenau
WWW : http://www.imms.de
<?xml version="1.0" ?>
<EtherCATInfo>
<!-- Slave 0 -->
<Vendor>
<Id>509</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x00201695" RevisionNo="#x00000000">DMD-078.12</Type>
<Name><![CDATA[DMD-078.12 Digital Motor Drive 0.8]]></Name>
<Sm Enable="1" StartAddress="6144" ControlByte="38" DefaultSize="532"/>
<Sm Enable="1" StartAddress="7168" ControlByte="34" DefaultSize="532"/>
<Sm Enable="1" StartAddress="4096" ControlByte="100" DefaultSize="0" />
<Sm Enable="1" StartAddress="5120" ControlByte="32" DefaultSize="0" />
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>Global Control</Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1601</Index>
<Name>Single Control</Name>
<Entry>
<Index>#x2040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword X1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2840</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword X2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword Y1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3840</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword Y2</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1602</Index>
<Name>Motor System X1</Name>
<Entry>
<Index>#x2070</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current X1 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2071</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current X1 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1603</Index>
<Name>Motor System X2</Name>
<Entry>
<Index>#x2870</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current X2 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2871</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current X2 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1604</Index>
<Name>Motor System Y1</Name>
<Entry>
<Index>#x3070</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current Y1 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3071</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current Y1 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1605</Index>
<Name>Motor System Y2</Name>
<Entry>
<Index>#x3870</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current Y2 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3871</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Target current Y2 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="1" Mandatory="1">
<Index>#x1606</Index>
<Name>Digital Outputs</Name>
<Entry>
<Index>#x2020</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Digital Outputs</Name>
<DataType>UINT8</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>Global Status</Name>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name>Single Status</Name>
<Entry>
<Index>#x2041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword X1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2841</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword X2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword Y1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3841</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Statusword Y2</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a02</Index>
<Name>Hall System ADC Values</Name>
<Entry>
<Index>#x2000</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall X1 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2001</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall X1 cos</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2002</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall X2 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2003</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall X2 cos</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2004</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall Y1 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2005</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Hall Y1 cos</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a03</Index>
<Name>Optical Grid Actual Values</Name>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position Actual Value X1</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x6864</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position Actual Value X2</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x7064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position Actual Value Y1</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x2064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>RI Position X1</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x2864</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>RI Position X2</Name>
<DataType>UINT32</DataType>
</Entry>
<Entry>
<Index>#x3064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>RI Position Y1</Name>
<DataType>UINT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a04</Index>
<Name>Optical Grid ADC Values</Name>
<Entry>
<Index>#x2006</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical X1 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2007</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical X1 cos</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2008</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical X2 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2009</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical X2 cos</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x200a</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical Y1 sin</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x200b</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Optical Y1 cos</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a05</Index>
<Name>Motor Systems Actual Values</Name>
<Entry>
<Index>#x2077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current X1 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2078</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current X1 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2877</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current X2 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x2878</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current X2 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current Y1 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3078</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current Y1 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3877</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current Y2 PH1</Name>
<DataType>UINT16</DataType>
</Entry>
<Entry>
<Index>#x3878</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>actual current Y2 PH2</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="1" Mandatory="1">
<Index>#x1a06</Index>
<Name>Digital Inputs</Name>
<Entry>
<Index>#x2021</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Digital Inputs</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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