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MrCCaesar/elmo.xml

Created June 28, 2023 12:01
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elmo gold twitter config xml copied from official documents
Raw
elmo.xml
vendor_id: 0x0000009a
product_id: 0x00030924
assign_activate: 0x0300 # DC Synch register
auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
sdo: # sdo data to be transferred at drive startup
- {index: 0x60C2, sub_index: 1, type: int8, value: 10} # Set interpolation time for cyclic modes to 10 ms
- {index: 0x60C2, sub_index: 2, type: int8, value: -3} # Set base 10-3s
rpdo: # RxPDO = receive PDO Mapping
# - index: 0x1600
# channels:
# - {index: 0x607a, sub_index: 0, type: uint32, command_interface: position, default: .nan} # Target position
# - {index: 0x60fe, sub_index: 1, type: uint32, default: 0} # Digital Outputs
# - {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
# - index: 0x1601
# channels:
# - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity, default: .nan} # Target velocity
# - {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
# - index: 0x1602
# channels:
# - {index: 0x6071, sub_index: 0, type: int16, command_interface: effort, default: .nan} # Target torque
# - {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
# - index: 0x1603
# channels:
# - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan} # Target position
# - {index: 0x60fe, sub_index: 1, type: uint32, default: 0} # Digital Outputs
# - {index: 0x60b1, sub_index: 0, type: int32, default: 0} # Velocity Offset
# - {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
# - index: 0x1604
# channels:
# - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan} # Target position
# - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity, default: .nan} # Target velocity
# - {index: 0x6072, sub_index: 0, type: uint16, default: 0} #Max torque
# - {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
- index: 0x1605
channels:
- {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan} # Target position
- {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity, default: .nan} # Target velocity
- {index: 0x6071, sub_index: 0, type: int16, command_interface: effort, default: .nan} # Target torque
- {index: 0x6072, sub_index: 0, type: uint16, default: 0} #Max torque
- {index: 0x6040, sub_index: 0, type: uint16, default: 0} # Control word
- {index: 0x6060, sub_index: 0, type: int8, default: 0} # Mode of operation
# - index: 0x1606
# channels:
# - {index: 0x607a, sub_index: 0, type: int32, command_interface: position, default: .nan} # Target position
# - {index: 0x60fe, sub_index: 1, type: uint32, default: 0} # Digital Outputs
# - {index: 0x60ff, sub_index: 0, type: int32, command_interface: velocity, default: .nan} # Target velocity
# - {index: 0x60b1, sub_index: 0, type: int32, default: 0} # Velocity Offset
# - {index: 0x60b2, sub_index: 0, type: int16, default: 0} #Torque Offset
# - {index: 0x6060, sub_index: 0, type: int8, default: 0} # Mode of operation
tpdo: # TxPDO = transmit PDO Mapping
# - index: 0x1a00
# channels:
# - {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
# - {index: 0x60fd, sub_index: 0, type: int32} # Digital Inputs
# - {index: 0x6041, sub_index: 0, type: uint16} # Status word
# - index: 0x1a01
# channels:
# - {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
# - {index: 0x606b, sub_index: 0, type: int32} #Velocity demand value
# - {index: 0x6074, sub_index: 0, type: int16} #Torque demand value
# - {index: 0x6041, sub_index: 0, type: uint16} # Status word
- index: 0x1a02
channels:
- {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
- {index: 0x6077, sub_index: 0, type: int16, state_interface: effort} # Torque actual value
- {index: 0x6041, sub_index: 0, type: uint16} # Status word
- {index: 0x6061, sub_index: 0, type: int8} #Mode of operation display
# - index: 0x1a03
# channels:
# - {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
# - {index: 0x60fd, sub_index: 0, type: int32} # Digital Inputs
# - {index: 0x606c, sub_index: 0, type: int32} # Velocity actual value
# - {index: 0x6041, sub_index: 0, type: uint16} # Status word
# - index: 0x1a04
# channels:
# - {index: 0x6064, sub_index: 0, type: int32, state_interface: position} # Position actual value
# - {index: 0x60f4, sub_index: 0, type: int32} # Position Following error actual value
# - {index: 0x6041, sub_index: 0, type: uint16} # Status word
# - {index: 0x6061, sub_index: 0, type: int8} #Mode of operation display
# - index: 0x1a0b
# channels:
# - {index: 0x6061, sub_index: 0, type: int8}
# - index: 0x1a0c
# channels:
# - {index: 0x6062, sub_index: 0, type: int32} # Position Demand
# - index: 0x1a0d
# channels:
# - {index: 0x6063, sub_index: 0, type: int32} # Position Actual Value [counts]
# - index: 0x1a0e
# channels:
# - {index: 0x6064, sub_index: 0, type: int32} # Position Actual Value
# - index: 0x1a0f
# channels:
# - {index: 0x6069, sub_index: 0, type: int32} #Velocity sensor actual value [counts/sec]
# - index: 0x1a10
# channels:
# - {index: 0x606b, sub_index: 0, type: int32} #Velocity demand value [cnt/sec]
# - index: 0x1a11
# channels:
# - {index: 0x606c, sub_index: 0, type: int32, state_interface: velocity} #Velocity actual value
# - index: 0x1a12
# channels:
# - {index: 0x6074, sub_index: 0, type: int16} #Effort demand value
# - index: 0x1a13
# channels:
# - {index: 0x6077, sub_index: 0, type: int16, state_interface: effort} #Torque actual value
# - index: 0x1a14
# channels:
# - {index: 0x60b9, sub_index: 0, type: int16} #Touch Probe Status
# - index: 0x1a15
# channels:
# - {index: 0x60ba, sub_index: 0, type: int32} #Touch Probe Pos1 Positive
# - index: 0x1a16
# channels:
# - {index: 0x60bb, sub_index: 0, type: int32} #Touch Probe Pos1 Negative
# - index: 0x1a17
# channels:
# - {index: 0x60bc, sub_index: 0, type: int32} #Touch Probe Pos2 pos value
# - index: 0x1a18
# channels:
# - {index: 0x6079, sub_index: 0, type: uint32} #DC link circuit voltage
# - index: 0x1a19
# channels:
# - {index: 0x60f4, sub_index: 0, type: int32} #Position Following error
# - index: 0x1a1a
# channels:
# - {index: 0x60fa, sub_index: 0, type: int32} #control effort [cnt/sec]
# - index: 0x1a1b
# channels:
# - {index: 0x60fc, sub_index: 0, type: int32} #Position Demand Value [cnt]
# - index: 0x1a1c
# channels:
# - {index: 0x60fd, sub_index: 0, type: int32} #Digital Inputs
# - index: 0x1a1d
# channels:
# - {index: 0x2205, sub_index: 1, type: int16} #Analog Input1
# - index: 0x1a1e
# channels:
# - {index: 0x22a0, sub_index: 0, type: int32} #Auxiloary position actual value
# - index: 0x1a1f
# channels:
# - {index: 0x6078, sub_index: 0, type: int16} #Current actual value
# - index: 0x1a20
# channels:
# - {index: 0x60bd, sub_index: 0, type: int32} #Touch Probe Pos2 neg value
# - index: 0x1a21
# channels:
# - {index: 0x2085, sub_index: 0, type: int16} #Extra Status Reg
# - index: 0x1a22
# channels:
# - {index: 0x1002, sub_index: 0, type: uint32} #Elmo Status Reg
# - index: 0x1a23
# channels:
# - {index: 0x2202, sub_index: 1, type: uint32} #Extened Inputs Value
# - index: 0x1a24
# channels:
# - {index: 0x2203, sub_index: 0, type: uint32} # App object
# - index: 0x1a26
# channels:
# - {index: 0x603f, sub_index: 0, type: uint16} # Error Code
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