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Initcmds support #40

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Merged
sittner merged 6 commits into from
Feb 26, 2018
Merged

Initcmds support #40

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2c5977f
fixed sync shift datatypes
Feb 23, 2018
732b3e1
added support for SoE setup
Feb 23, 2018
b9ea190
make private functions in lcec_conf static, fix error handling for ad…
Feb 23, 2018
4a4223e
add support for reading initCommands from external files
Feb 23, 2018
1c1c313
table driven xml parsing state machine, remove global state variables
Feb 26, 2018
01e2117
added examples
Feb 26, 2018
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174 changes: 174 additions & 0 deletions examples/initcmds/AM8121-xFx0-000x_MDP.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,174 @@
<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox><CoE><InitCmds>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Max current]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>17</SubIndex>
<Data>10270000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Rated current]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>18</SubIndex>
<Data>a00f0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Motor thermal time constant]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>45</SubIndex>
<Data>c800</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Motor pole pairs]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>19</SubIndex>
<Data>03</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Commutation offset]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>21</SubIndex>
<Data>a6ff</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Torque constant]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>22</SubIndex>
<Data>82000000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Rotor moment of inertia ]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>24</SubIndex>
<Data>86000000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Winding inductance]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>25</SubIndex>
<Data>1e00</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Motor speed limitation]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32785</Index>
<SubIndex>27</SubIndex>
<Data>b80b0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Current loop proportional gain]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>19</SubIndex>
<Data>6401</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Current loop integral time]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>18</SubIndex>
<Data>0500</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Velocity loop proportional gain]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>21</SubIndex>
<Data>70000000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Velocity loop integral time]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>20</SubIndex>
<Data>96000000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Release delay]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32786</Index>
<SubIndex>17</SubIndex>
<Data>0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Application delay]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32786</Index>
<SubIndex>18</SubIndex>
<Data>0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Emergency application timeout]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32786</Index>
<SubIndex>19</SubIndex>
<Data>0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Brake moment of inertia]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32786</Index>
<SubIndex>20</SubIndex>
<Data>0000</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Stand still window]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>51</SubIndex>
<Data>0a00</Data>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Comment><![CDATA[Nominal DC Link Voltage]]></Comment>
<Timeout>0</Timeout>
<Ccs>1</Ccs>
<Index>32784</Index>
<SubIndex>25</SubIndex>
<Data>80bb0000</Data>
</InitCmd>
</InitCmds></CoE></EtherCATMailbox>
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