deltapos.zip

<masters> <master idx="0" appTimePeriod="1000000" refClockSyncCycles="5"> <slave idx="0" type="generic" vid="000001dd" pid="10305070" configPdos="true"> <sdoConfig idx="6060" subIdx="0"> <sdoDataRaw data="8"/> </sdoConfig> <sdoConfig idx="60C2" subIdx="1"> <sdoDataRaw data="2"/> </sdoConfig> <syncManager idx="0" dir="out"></syncManager> <syncManager idx="1" dir="in"></syncManager> <syncManager idx="2" dir="out"> <pdo idx="1601"> <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="drivecontrol" halType="bit"/> <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="poscommand" halType="float" scale="1000"/> </pdo> </syncManager> <syncManager idx="3" dir="in"> <pdo idx="1A01"> <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="drivestatus" halType="bit"/> <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="pos" halType="float" scale="1000"/> </pdo> </syncManager> <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="250000"/> </slave> </master> </masters>