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Problems with an EtherCAT ICE v2 device under an Acontis master stack

Paolo Mastrapasqua
Prodigy 160 points

Hello,

I'm working on a with a Texts Instruments ICEv2 evaluation board using SYS/BIOS Industrial SDK 2.1.1.2.

The application consists of a recompiled Beckhoff stack, slitly modified to used latches in the DC unit.

I initially tested the slave under TwinCAT3, with distributed clocks enabled, and it was working correctly.

Then I exported the ENI file from TwinCAT and used it to configure Acontis master (v2.7.3.02) running on Vxworks 5.5, but unfortunately it is not working.
This is the output on VxWorks shell:

Starting Ecat Master on Adapter n. 0
EC-Master V2.7.3.02 for VxWorks Copyright acontis technologies GmbH @ 2015
...
Starting Master...
Bus scan successful - 1 slaves found
Master state changed from <UNKNOWN> to <INIT>
Master state changed from <INIT> to <PREOP>
Master state changed from <PREOP> to <SAFEOP>
ERROR: At least one slave in error status
Slave error "Box 1 (TIESC-001)": - EtherCAT address=1001 - State <SAFE OPERATIONAL ERROR>(0x14), control status <No Sync Error>(0x2d)
Slave init command response error - Slave Box 1 (TIESC-001): - EtherCAT address=1001 - Current State change of slave="SAFEOP to OP" target state could not be reached
value = 0 = 0x0
-> ERROR: At least one slave in error status
CEcSlave::ProcessCmdResult() Box 1 (TIESC-001): unprocessed dwInvokeId (0x10)
Done
Slave error "Box 1 (TIESC-001)": - EtherCAT address=1001 - State <SAFE OPERATIONAL ERROR>(0x14), control status <No Sync Error>(0x2d)

So it seems that the SYNC0 generation has not been started; this is even confirmed on a scope where I don't see it changing state.

Then I tried configuring the same network with Ec-Engineer, but I get exactly the same error.

So my question is:

Is anybody aware of any incompatibility between Acontis Ec-Master and Texas Instruments PRU based devices? Is there any quick work-around?

If helpful, attached you can find the application code (containing TwinCAT and Ec-Engineer projects), the device ESI file, and 2 ENI files exported by TwinCAT and Ec-Engineer.


Thank you very much.


Kind regards,

Paolo Mastrapasqua

Fullscreen eni_sync_node_dc_twincat.xml Download 
<?xml version="1.0" encoding="ISO-8859-1"?>
<!-- edited with XMLSpy v2016 (x64) (http://www.altova.com) by Paolo Mastrapasqua (Hexagon Technology Center GmbH) -->
<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATConfig.xsd" Version="1.3">
	<Config>
		<Master>
			<Info>
				<Name><![CDATA[Device 1 (EtherCAT)]]></Name>
				<Destination>010105010000</Destination>
				<Source>6805ca28ea0c</Source>
				<EtherType>a488</EtherType>
			</Info>
			<MailboxStates>
				<StartAddr>150994944</StartAddr>
				<Count>1</Count>
			</MailboxStates>
			<EoE>
				<MaxPorts>2</MaxPorts>
				<MaxFrames>120</MaxFrames>
				<MaxMACs>0</MaxMACs>
			</EoE>
			<InitCmds>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[enable ECAT IRQ]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>512</Ado>
					<Data>0400</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear configured addresses]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>16</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear crc register]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>768</Ado>
					<Data>0000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear fmmu]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>1536</Ado>
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear sm]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2048</Ado>
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear dc system time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2320</Ado>
					<DataLength>32</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[clear dc cycle cfg]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2433</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[reset dc speed]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2352</Ado>
					<Data>0010</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[configure dc filter]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2356</Ado>
					<Data>000c</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>true</BeforeSlave>
					<Comment><![CDATA[en/disable second physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>259</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
			</InitCmds>
		</Master>
		<Slave>
			<Info>
				<Name><![CDATA[Box 1 (TIESC-001)]]></Name>
				<PhysAddr>1001</PhysAddr>
				<AutoIncAddr>0</AutoIncAddr>
				<Physics>YY</Physics>
				<VendorId>1437</VendorId>
				<ProductCode>1414070273</ProductCode>
				<RevisionNo>17</RevisionNo>
				<SerialNo>0</SerialNo>
			</Info>
			<ProcessData>
				<Send>
					<BitStart>568</BitStart>
					<BitLength>40</BitLength>
				</Send>
				<Recv>
					<BitStart>568</BitStart>
					<BitLength>56</BitLength>
				</Recv>
				<Sm2>
					<Type>Outputs</Type>
					<DefaultSize>5</DefaultSize>
					<StartAddress>6144</StartAddress>
					<ControlByte>100</ControlByte>
					<Enable>1</Enable>
					<Pdo>5633</Pdo>
					<Pdo>5634</Pdo>
				</Sm2>
				<Sm3>
					<Type>Inputs</Type>
					<DefaultSize>7</DefaultSize>
					<StartAddress>7168</StartAddress>
					<ControlByte>32</ControlByte>
					<Enable>1</Enable>
					<Pdo>6656</Pdo>
					<Pdo>6659</Pdo>
				</Sm3>
				<TxPdo Fixed="true" Mandatory="true" Sm="3">
					<Index>#x1a00</Index>
					<Name>DI Inputs</Name>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>1</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 1</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>2</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 2</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>3</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 3</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>4</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 4</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>5</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 5</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 6</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>7</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 7</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>8</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 8</Name>
						<DataType>BIT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="true" Mandatory="true" Sm="3">
					<Index>#x1a03</Index>
					<Name>Motor AI Inputs</Name>
					<Entry>
						<Index>#x6030</Index>
						<SubIndex>1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Info 1</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6030</Index>
						<SubIndex>2</SubIndex>
						<BitLen>16</BitLen>
						<Name>Info 2</Name>
						<DataType>INT</DataType>
					</Entry>
				</TxPdo>
				<RxPdo Fixed="true" Mandatory="true" Sm="2">
					<Index>#x1601</Index>
					<Name>DO Outputs</Name>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>1</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 1</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>2</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 2</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>3</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 3</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>4</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 4</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>5</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 5</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 6</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>7</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 7</Name>
						<DataType>BIT</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>8</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 8</Name>
						<DataType>BIT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="true" Mandatory="true" Sm="2">
					<Index>#x1602</Index>
					<Name>Motor Outputs</Name>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>1</SubIndex>
						<BitLen>8</BitLen>
						<Name>Count</Name>
						<DataType>USINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>2</SubIndex>
						<BitLen>8</BitLen>
						<Name>Command</Name>
						<DataType>USINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>3</SubIndex>
						<BitLen>16</BitLen>
						<Name>Data</Name>
						<DataType>INT</DataType>
					</Entry>
				</RxPdo>
			</ProcessData>
			<Mailbox DataLinkLayer="true">
				<Send>
					<Start>4096</Start>
					<Length>128</Length>
				</Send>
				<Recv>
					<Start>5120</Start>
					<Length>128</Length>
					<StatusBitAddr>0</StatusBitAddr>
				</Recv>
				<BootStrap>
					<Send>
						<Start>4096</Start>
						<Length>128</Length>
					</Send>
					<Recv>
						<Start>5120</Start>
						<Length>128</Length>
					</Recv>
				</BootStrap>
				<Protocol>EoE</Protocol>
				<Protocol>CoE</Protocol>
				<Protocol>FoE</Protocol>
				<CoE>
					<InitCmds>
						<InitCmd>
							<Transition>PS</Transition>
							<Comment><![CDATA[Track rising edge]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>10</SubIndex>
							<Data>01000000</Data>
						</InitCmd>
						<InitCmd>
							<Transition>SO</Transition>
							<Comment><![CDATA[Start Pll]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>12</SubIndex>
							<Data>02000000</Data>
						</InitCmd>
						<InitCmd>
							<Transition>OS</Transition>
							<Transition>OP</Transition>
							<Transition>OI</Transition>
							<Comment><![CDATA[Stop Pll]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>12</SubIndex>
							<Data>00000000</Data>
						</InitCmd>
					</InitCmds>
					<Profile>
						<ChannelInfo>
							<ProfileNo>5001</ProfileNo>
							<AddInfo>0</AddInfo>
						</ChannelInfo>
					</Profile>
				</CoE>
			</Mailbox>
			<InitCmds>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>288</Ado>
					<Data>1100</Data>
					<Retries>3</Retries>
					<Timeout>5000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>5000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>288</Ado>
					<Data>1100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Timeout>2000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[assign EEPROM to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1282</Ado>
					<Data>000108000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>1288</Ado>
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>9d050000</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1282</Ado>
					<Data>00010a000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>1288</Ado>
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>01004954</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>16</Ado>
					<Data>e903</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2048</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>2048</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 0 (mailbox out)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2048</Ado>
					<Data>0010800026000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 1 (mailbox in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2056</Ado>
					<Data>0014800022000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2048</Ado>
					<Data>0010800026000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2056</Ado>
					<Data>0014800022000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC cycle time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2464</Ado>
					<Data>40420f0000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC start time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2448</Ado>
					<Data>0000000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2432</Ado>
					<Data>3003</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC latch cfg]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2472</Ado>
					<Data>0303</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>PP</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>1200</Data>
					<Retries>300</Retries>
					<Timeout>200</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sms]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2064</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 2 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2064</Ado>
					<Data>0018050064000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 3 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2072</Ado>
					<Data>001c070020000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 0 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1536</Ado>
					<Data>00000001050000070018000201000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 1 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1552</Ado>
					<Data>0000000107000007001c000101000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set fmmu 2 (mailbox state)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1568</Ado>
					<Data>00000009010000000d08000101000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>0400</Data>
					<Retries>3</Retries>
					<Timeout>200</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 0]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1536</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 1]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1552</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 2]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1568</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>5000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[assign EEPROM to PDI]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>1280</Ado>
					<Data>01</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>II</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>1200</Data>
					<Cnt>1</Cnt>
					<Retries>300</Retries>
					<Timeout>2000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>BI</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>1300</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Timeout>2000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>030000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>0400</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Timeout>9000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>9000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>200</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[set device state to OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1001</Adp>
					<Ado>288</Ado>
					<Data>0800</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Timeout>9000</Timeout>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[check device state for OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1001</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>080000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>9000</Timeout>
					</Validate>
				</InitCmd>
			</InitCmds>
			<DC>
				<ReferenceClock>true</ReferenceClock>
				<CycleTime0>1000000</CycleTime0>
				<CycleTime1>0</CycleTime1>
				<ShiftTime>0</ShiftTime>
			</DC>
		</Slave>
		<Cyclic>
			<Comment><![CDATA[synchronized with task 'NC-Task 1 SAF']]></Comment>
			<CycleTime>1000</CycleTime>
			<Priority>4</Priority>
			<TaskId>1</TaskId>
			<Frame>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>0</Cmd>
					<Adp>0</Adp>
					<Ado>2304</Ado>
					<DataLength>4</DataLength>
					<InputOffs>16</InputOffs>
					<OutputOffs>16</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>13</Cmd>
					<Adp>0</Adp>
					<Ado>2320</Ado>
					<DataLength>4</DataLength>
					<InputOffs>32</InputOffs>
					<OutputOffs>32</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>10</Cmd>
					<Addr>150994944</Addr>
					<DataLength>1</DataLength>
					<InputOffs>48</InputOffs>
					<OutputOffs>48</OutputOffs>
				</Cmd>
				<Cmd>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>12</Cmd>
					<Addr>16777216</Addr>
					<DataLength>7</DataLength>
					<Cnt>3</Cnt>
					<InputOffs>61</InputOffs>
					<OutputOffs>61</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<DataLength>2</DataLength>
					<Cnt>1</Cnt>
					<InputOffs>80</InputOffs>
					<OutputOffs>80</OutputOffs>
				</Cmd>
			</Frame>
		</Cyclic>
		<ProcessImage>
			<Inputs>
				<ByteSize>1536</ByteSize>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 1</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>568</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 2</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>569</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 3</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>570</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 4</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>571</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 5</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>572</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 6</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>573</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 7</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>574</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DI Inputs.Switch 8</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>575</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).Motor AI Inputs.Info 1</Name>
					<DataType>DINT</DataType>
					<BitSize>32</BitSize>
					<BitOffs>576</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).Motor AI Inputs.Info 2</Name>
					<DataType>INT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>608</BitOffs>
				</Variable>
				<Variable>
					<Name>Inputs.Frm0State</Name>
					<Comment><![CDATA[0x0001 = 1. EtherCAT command not sent (NOP requested)
0x0002 = 2. EtherCAT command not sent (NOP requested)
0x0004 = 3. EtherCAT command not sent (NOP requested)
...
0x4000 = 15. EtherCAT command not sent (NOP requested)
0x8000 = complete frame not sent
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12160</BitOffs>
				</Variable>
				<Variable>
					<Name>Inputs.Frm0WcState</Name>
					<Comment><![CDATA[0x0001 = wrong working counter of 1. EtherCAT command received
0x0002 = wrong working counter of 2. EtherCAT command received
0x0004 = wrong working counter of 3. EtherCAT command received
...
0x4000 = wrong working counter of 15. EtherCAT command received
0x8000 = complete frame missing
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12176</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).WcState.WcState</Name>
					<Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>12179</BitOffs>
				</Variable>
				<Variable>
					<Name>Inputs.Frm0InputToggle</Name>
					<Comment><![CDATA[0x0001 = Toggle Bit: 1. EtherCAT command received new inputs
0x0002 = Toggle Bit: 2. EtherCAT command received new inputs
0x0004 = Toggle Bit: 3. EtherCAT command received new inputs
...
0x4000 = Toggle Bit: 15. EtherCAT command received new inputs
0x8000 = Old frame - not from the actual cycle - received
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12192</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).WcState.InputToggle</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>12195</BitOffs>
				</Variable>
				<Variable>
					<Name>SyncUnits.&lt;default&gt;.NC-Task 1 SAF.WcState.WcState</Name>
					<Comment><![CDATA[0 = Data valid
1 = Data invalid
]]></Comment>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>12208</BitOffs>
				</Variable>
				<Variable>
					<Name>Inputs.SlaveCount</Name>
					<Comment><![CDATA[Actual count of EtherCAT slaves received]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12240</BitOffs>
				</Variable>
				<Variable>
					<Name>Inputs.DevState</Name>
					<Comment><![CDATA[0x0001 = Link error
0x0002 = I/O locked after link error (I/O reset required)
0x0004 = Link error (redundancy adapter)
0x0008 = Missing one frame (redundancy mode)
0x0010 = Out of send resources (I/O reset required)
0x0020 = Watchdog triggered
0x0040 = Ethernet driver (miniport) not found
0x0080 = I/O reset active
0x0100 = At least one device in 'INIT' state
0x0200 = At least one device in 'PRE-OP' state
0x0400 = At least one device in 'SAFE-OP' state
0x0800 = At least one device indicates an error state
0x1000 = DC not in sync
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12272</BitOffs>
				</Variable>
				<Variable>
					<Name>InfoData.ChangeCount</Name>
					<Comment><![CDATA[Info data change counter]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12288</BitOffs>
				</Variable>
				<Variable>
					<Name>InfoData.DevId</Name>
					<Comment><![CDATA[DeviceId of EtherCAT device]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12304</BitOffs>
				</Variable>
				<Variable>
					<Name>InfoData.AmsNetId</Name>
					<Comment><![CDATA[AmsNetId of EtherCAT device]]></Comment>
					<DataType>AMSNETID</DataType>
					<BitSize>48</BitSize>
					<BitOffs>12320</BitOffs>
				</Variable>
				<Variable>
					<Name>InfoData.CfgSlaveCount</Name>
					<Comment><![CDATA[Count of configured EtherCAT slaves]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12368</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).InfoData.State</Name>
					<Comment><![CDATA[0x___1 = Slave in 'INIT' state
0x___2 = Slave in 'PREOP' state
0x___3 = Slave in 'BOOT' state
0x___4 = Slave in 'SAFEOP' state
0x___8 = Slave in 'OP' state
0x001_ = Slave signals error
0x002_ = Invalid vendorId, productCode... read
0x004_ = Initialization error occurred
0x008_ = Slave disabled
0x010_ = Slave not present
0x020_ = Slave signals link error
0x040_ = Slave signals missing link
0x080_ = Slave signals unexpected link
0x100_ = Communication port A
0x200_ = Communication port B
0x400_ = Communication port C
0x800_ = Communication port D
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12384</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).InfoData.AdsAddr</Name>
					<Comment><![CDATA[Complete ADS address to access the slave (mailbox)]]></Comment>
					<DataType>AMSADDR</DataType>
					<BitSize>64</BitSize>
					<BitOffs>12400</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).InfoData.DcOutputShift</Name>
					<DataType>DINT</DataType>
					<BitSize>32</BitSize>
					<BitOffs>12464</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).InfoData.DcInputShift</Name>
					<DataType>DINT</DataType>
					<BitSize>32</BitSize>
					<BitOffs>12496</BitOffs>
				</Variable>
				<Variable>
					<Name>SyncUnits.&lt;default&gt;.NC-Task 1 SAF.InfoData.ObjectId</Name>
					<DataType>OTCID</DataType>
					<BitSize>32</BitSize>
					<BitOffs>12528</BitOffs>
				</Variable>
				<Variable>
					<Name>SyncUnits.&lt;default&gt;.NC-Task 1 SAF.InfoData.State</Name>
					<Comment><![CDATA[0x___1 = At least one slave in 'INIT' state
0x___2 = At least one slave in 'PREOP' state
0x___3 = At least one slave in 'BOOT' state
0x___4 = At least one slave in 'SAFEOP' state
0x___8 = At least one slave in 'OP' state
0x001_ = At least one slave signals error
0x002_ = Invalid vendorId, productCode... read
0x004_ = Initialization error occurred
0x008_ = At least one slave disabled
0x010_ = At least one slave not present
0x020_ = At least one slave signals link error
0x040_ = At least one slave signals missing link
0x080_ = At least one slave signals unexpected link
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12560</BitOffs>
				</Variable>
				<Variable>
					<Name>SyncUnits.&lt;default&gt;.NC-Task 1 SAF.InfoData.SlaveCount</Name>
					<Comment><![CDATA[Info data slave counter]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12576</BitOffs>
				</Variable>
			</Inputs>
			<Outputs>
				<ByteSize>1536</ByteSize>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 1</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>568</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 2</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>569</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 3</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>570</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 4</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>571</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 5</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>572</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 6</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>573</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 7</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>574</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).DO Outputs.LED 8</Name>
					<DataType>BIT</DataType>
					<BitSize>1</BitSize>
					<BitOffs>575</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).Motor Outputs.Count</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>576</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).Motor Outputs.Command</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>584</BitOffs>
				</Variable>
				<Variable>
					<Name>Box 1 (TIESC-001).Motor Outputs.Data</Name>
					<DataType>INT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>592</BitOffs>
				</Variable>
				<Variable>
					<Name>Outputs.Frm0Ctrl</Name>
					<Comment><![CDATA[0x0001 = prevent 1. EtherCAT command from sending (request NOP)
0x0002 = prevent 2. EtherCAT command from sending (request NOP)
0x0004 = prevent 3. EtherCAT command from sending (request NOP)
...
0x4000 = prevent 15. EtherCAT command from sending (request NOP)
0x8000 = prevent complete frame from sending
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12160</BitOffs>
				</Variable>
				<Variable>
					<Name>Outputs.Frm0WcCtrl</Name>
					<Comment><![CDATA[0x0001 = copy data with wrong working counter of 1. EtherCAT command
0x0002 = copy data with wrong working counter of 2. EtherCAT command
0x0004 = copy data with wrong working counter of 3. EtherCAT command
...
0x4000 = copy data with wrong working counter of 15. EtherCAT command
]]></Comment>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12176</BitOffs>
				</Variable>
				<Variable>
					<Name>Outputs.DevCtrl</Name>
					<DataType>UINT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>12272</BitOffs>
				</Variable>
			</Outputs>
		</ProcessImage>
	</Config>
</EtherCATConfig>
Fullscreen eni_sync_node_dc_ecengineer.xml Download 
<?xml version="1.0" encoding="iso-8859-1"?>
<!-- edited with XMLSpy v2016 (x64) (http://www.altova.com) by Paolo Mastrapasqua (Hexagon Technology Center GmbH) -->
<!-- Created 2016-04-27 11:18:06 with EniEngine 1.3.0 -->
<EtherCATConfig xsi:noNamespaceSchemaLocation="EtherCATConfig.xsd" Version="1.3" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
	<Config>
		<Master>
			<Info>
				<Name><![CDATA[Class-A Master]]></Name>
				<Destination>ffffffffffff</Destination>
				<Source>ffffffffffff</Source>
				<EtherType>a488</EtherType>
			</Info>
			<MailboxStates>
				<StartAddr>150994944</StartAddr>
				<Count>1</Count>
			</MailboxStates>
			<InitCmds>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[read slave count]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>0</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[enable ECAT IRQ]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>512</Ado>
					<Data>0400</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear configured addresses]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>16</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear crc register]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>768</Ado>
					<Data>0000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear fmmu]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>1536</Ado>
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear sm]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2048</Ado>
					<DataLength>256</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear dc system time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2320</Ado>
					<DataLength>32</DataLength>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[clear dc cycle cfg]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2433</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[reset dc speed]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2352</Ado>
					<Data>0010</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[configure dc filter]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>2356</Ado>
					<Data>000c</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<BeforeSlave>1</BeforeSlave>
					<Comment><![CDATA[en/disable second physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>8</Cmd>
					<Adp>0</Adp>
					<Ado>259</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
			</InitCmds>
		</Master>
		<Slave>
			<Info>
				<!--Slave_1003 [TIESC-001] (1003)-->
				<Name><![CDATA[Slave_1003 [TIESC-001]]]></Name>
				<PhysAddr>1003</PhysAddr>
				<AutoIncAddr>0</AutoIncAddr>
				<Physics>YY</Physics>
				<VendorId>1437</VendorId>
				<ProductCode>1414070273</ProductCode>
				<RevisionNo>17</RevisionNo>
				<SerialNo>0</SerialNo>
			</Info>
			<ProcessData>
				<Send>
					<BitStart>0</BitStart>
					<BitLength>40</BitLength>
				</Send>
				<Recv>
					<BitStart>0</BitStart>
					<BitLength>56</BitLength>
				</Recv>
				<Sm2>
					<Type>Outputs</Type>
					<DefaultSize>5</DefaultSize>
					<StartAddress>6144</StartAddress>
					<ControlByte>100</ControlByte>
					<Enable>1</Enable>
					<Pdo>5633</Pdo>
					<Pdo>5634</Pdo>
				</Sm2>
				<Sm3>
					<Type>Inputs</Type>
					<DefaultSize>7</DefaultSize>
					<StartAddress>7168</StartAddress>
					<ControlByte>32</ControlByte>
					<Enable>1</Enable>
					<Pdo>6656</Pdo>
					<Pdo>6659</Pdo>
				</Sm3>
				<TxPdo Fixed="1" Mandatory="1" Sm="3">
					<Index>#x1a00</Index>
					<Name>DI Inputs</Name>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>1</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 1</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>2</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 2</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>3</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 3</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>4</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 4</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>5</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 5</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 6</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>7</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 7</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x6000</Index>
						<SubIndex>8</SubIndex>
						<BitLen>1</BitLen>
						<Name>Switch 8</Name>
						<DataType>BOOL</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="1" Mandatory="1" Sm="3">
					<Index>#x1a03</Index>
					<Name>Motor AI Inputs</Name>
					<Entry>
						<Index>#x6030</Index>
						<SubIndex>1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Info 1</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6030</Index>
						<SubIndex>2</SubIndex>
						<BitLen>16</BitLen>
						<Name>Info 2</Name>
						<DataType>INT</DataType>
					</Entry>
				</TxPdo>
				<RxPdo Fixed="1" Mandatory="1" Sm="2">
					<Index>#x1601</Index>
					<Name>DO Outputs</Name>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>1</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 1</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>2</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 2</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>3</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 3</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>4</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 4</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>5</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 5</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 6</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>7</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 7</Name>
						<DataType>BOOL</DataType>
					</Entry>
					<Entry>
						<Index>#x7010</Index>
						<SubIndex>8</SubIndex>
						<BitLen>1</BitLen>
						<Name>LED 8</Name>
						<DataType>BOOL</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Mandatory="1" Sm="2">
					<Index>#x1602</Index>
					<Name>Motor Outputs</Name>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>1</SubIndex>
						<BitLen>8</BitLen>
						<Name>Count</Name>
						<DataType>USINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>2</SubIndex>
						<BitLen>8</BitLen>
						<Name>Command</Name>
						<DataType>USINT</DataType>
					</Entry>
					<Entry>
						<Index>#x7020</Index>
						<SubIndex>3</SubIndex>
						<BitLen>16</BitLen>
						<Name>Data</Name>
						<DataType>INT</DataType>
					</Entry>
				</RxPdo>
			</ProcessData>
			<Mailbox DataLinkLayer="true">
				<Send>
					<Start>4096</Start>
					<Length>128</Length>
				</Send>
				<Recv>
					<Start>5120</Start>
					<Length>128</Length>
					<StatusBitAddr>0</StatusBitAddr>
				</Recv>
				<BootStrap>
					<Send>
						<Start>4096</Start>
						<Length>128</Length>
					</Send>
					<Recv>
						<Start>5120</Start>
						<Length>128</Length>
					</Recv>
				</BootStrap>
				<Protocol>CoE</Protocol>
				<Protocol>FoE</Protocol>
				<CoE>
					<InitCmds>
						<InitCmd>
							<Transition>PS</Transition>
							<Comment><![CDATA[Download to Options]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>10</SubIndex>
							<Data>01000000</Data>
						</InitCmd>
						<InitCmd>
							<Transition>SO</Transition>
							<Comment><![CDATA[Download to Synchronisation FSM command]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>12</SubIndex>
							<Data>02000000</Data>
						</InitCmd>
						<InitCmd>
							<Transition>OS</Transition>
							<Comment><![CDATA[Download to Synchronisation FSM command]]></Comment>
							<Timeout>0</Timeout>
							<Ccs>1</Ccs>
							<Index>24672</Index>
							<SubIndex>12</SubIndex>
							<Data>00000000</Data>
						</InitCmd>
					</InitCmds>
				</CoE>
				<FoE/>
			</Mailbox>
			<InitCmds>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>288</Ado>
					<Data>1100</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>5000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>10000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>288</Ado>
					<Data>1100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for INIT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<Data>0000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>0100</Data>
						<DataMask>0f00</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[assign EEPROM to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1282</Ado>
					<Data>000108000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check vendor id]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>1288</Ado>
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>9d050000</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1282</Ado>
					<Data>00010a000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check product code]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>1</Cmd>
					<Adp>0</Adp>
					<Ado>1288</Ado>
					<Data>00000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>01004954</Data>
						<Timeout>100</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set physical address]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>16</Ado>
					<Data>eb03</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Transition>PI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2048</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>BI</Transition>
					<Comment><![CDATA[clear sm 0/1 (mailbox out/in)]]></Comment>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>2048</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 0 (mailbox out)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2048</Ado>
					<Data>0010800026000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set sm 1 (mailbox in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2056</Ado>
					<Data>0014800022000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 0 (bootstrap out)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2048</Ado>
					<Data>0010800026000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set sm 1 (bootstrap in)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2056</Ado>
					<Data>0014800022000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC cycle time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2464</Ado>
					<Data>40420f0000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC start time]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2448</Ado>
					<Data>0000000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2432</Ado>
					<Data>3003</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set DC latch cfg]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2472</Ado>
					<Data>0303</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>PP</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>1200</Data>
					<Retries>300</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear sms]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2064</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 2 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2064</Ado>
					<Data>0018050064000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set sm 3 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2072</Ado>
					<Data>001c070020000100</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 0 (outputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1536</Ado>
					<Data>00000010050000070018000201000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set fmmu 1 (inputs)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1552</Ado>
					<Data>0000001007000007001c000101000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[set fmmu 2 (mailbox state)]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1568</Ado>
					<Data>00000009010000000d08000101000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>0400</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 0]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1536</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>SI</Transition>
					<Transition>OP</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 1]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1552</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PI</Transition>
					<Transition>BI</Transition>
					<Transition>SI</Transition>
					<Transition>OI</Transition>
					<Comment><![CDATA[clear fmmu 2]]></Comment>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1568</Ado>
					<Data>00000000000000000000000000000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[clear DC activation]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2432</Ado>
					<Data>0000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[clear System Time Delay]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>2344</Ado>
					<Data>00000000</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SP</Transition>
					<Transition>OP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>5000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>IB</Transition>
					<Comment><![CDATA[assign EEPROM to PDI]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>1280</Ado>
					<Data>01</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>II</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[set device state to PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>1200</Data>
					<Cnt>1</Cnt>
					<Retries>300</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Comment><![CDATA[check device state for PREOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>020000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>IP</Transition>
					<Transition>BI</Transition>
					<Comment><![CDATA[assign EEPROM back to ECAT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>2</Cmd>
					<Adp>0</Adp>
					<Ado>1280</Ado>
					<Data>00</Data>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[set device state to BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>1300</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>IB</Transition>
					<Comment><![CDATA[check device state for BOOT]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>030000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>2000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[set device state to SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>0400</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>PS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>9000</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>OS</Transition>
					<Comment><![CDATA[check device state for SAFEOP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Retries>3</Retries>
					<Validate>
						<Data>040000000000</Data>
						<DataMask>0f0000000000</DataMask>
						<Timeout>200</Timeout>
					</Validate>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[set device state to OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>5</Cmd>
					<Adp>1003</Adp>
					<Ado>288</Ado>
					<Data>0800</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
				</InitCmd>
				<InitCmd>
					<Transition>SO</Transition>
					<Comment><![CDATA[check device state for OP]]></Comment>
					<Requires>cycle</Requires>
					<Cmd>4</Cmd>
					<Adp>1003</Adp>
					<Ado>304</Ado>
					<Data>000000000000</Data>
					<Cnt>1</Cnt>
					<Retries>3</Retries>
					<Validate>
						<Data>080000000000</Data>
						<DataMask>1f0000000000</DataMask>
						<Timeout>9000</Timeout>
					</Validate>
				</InitCmd>
			</InitCmds>
			<DC>
				<ReferenceClock>true</ReferenceClock>
				<CycleTime0>1000000</CycleTime0>
				<CycleTime1>0</CycleTime1>
				<ShiftTime>0</ShiftTime>
			</DC>
		</Slave>
		<Cyclic>
			<CycleTime>1000</CycleTime>
			<Frame>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd (DC, NOP, Receive Time Port 1 Register)]]></Comment>
					<Cmd>0</Cmd>
					<Adp>0</Adp>
					<Ado>2304</Ado>
					<DataLength>4</DataLength>
					<InputOffs>9</InputOffs>
					<OutputOffs>9</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd (DC, ARMW, System Time Register)]]></Comment>
					<Cmd>13</Cmd>
					<Adp>0</Adp>
					<Ado>2320</Ado>
					<DataLength>4</DataLength>
					<InputOffs>13</InputOffs>
					<OutputOffs>13</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd (Poll Mailbox State)]]></Comment>
					<Cmd>10</Cmd>
					<Addr>150994944</Addr>
					<DataLength>1</DataLength>
					<InputOffs>17</InputOffs>
					<OutputOffs>17</OutputOffs>
				</Cmd>
				<Cmd>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[cyclic cmd]]></Comment>
					<Cmd>12</Cmd>
					<Addr>268435456</Addr>
					<DataLength>7</DataLength>
					<Cnt>3</Cnt>
					<InputOffs>0</InputOffs>
					<OutputOffs>0</OutputOffs>
				</Cmd>
				<Cmd>
					<State>PREOP</State>
					<State>SAFEOP</State>
					<State>OP</State>
					<Comment><![CDATA[Read AL Status]]></Comment>
					<Cmd>7</Cmd>
					<Adp>0</Adp>
					<Ado>304</Ado>
					<DataLength>2</DataLength>
					<Cnt>1</Cnt>
					<InputOffs>7</InputOffs>
					<OutputOffs>7</OutputOffs>
				</Cmd>
			</Frame>
		</Cyclic>
		<ProcessImage>
			<Inputs>
				<ByteSize>18</ByteSize>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 1</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>0</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 2</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 3</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>2</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 4</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>3</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 5</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>4</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 6</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>5</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 7</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>6</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DI Inputs.Switch 8</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>7</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].Motor AI Inputs.Info 1</Name>
					<DataType>DINT</DataType>
					<BitSize>32</BitSize>
					<BitOffs>8</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].Motor AI Inputs.Info 2</Name>
					<DataType>INT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>40</BitOffs>
				</Variable>
			</Inputs>
			<Outputs>
				<ByteSize>7</ByteSize>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 1</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>0</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 2</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>1</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 3</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>2</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 4</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>3</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 5</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>4</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 6</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>5</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 7</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>6</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].DO Outputs.LED 8</Name>
					<DataType>BOOL</DataType>
					<BitSize>1</BitSize>
					<BitOffs>7</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].Motor Outputs.Count</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>8</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].Motor Outputs.Command</Name>
					<DataType>USINT</DataType>
					<BitSize>8</BitSize>
					<BitOffs>16</BitOffs>
				</Variable>
				<Variable>
					<Name>Slave_1003 [TIESC-001].Motor Outputs.Data</Name>
					<DataType>INT</DataType>
					<BitSize>16</BitSize>
					<BitOffs>24</BitOffs>
				</Variable>
			</Outputs>
		</ProcessImage>
	</Config>
</EtherCATConfig>
7853.TI_ESC.xml

ecat_app.zip