﻿<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
    <!-- Version 1.0 2013-03-13, erste freigegebene Version für AC Servo Drive NG, EtherCAT 5.01 V0.2.1 auf Basis von ESR_xDrive.xml -->
    <!-- Version 1.1 2015-05-26, EtherCAT V5.11 0.4.0 (SM-Synchron) und V5.11 0.4.1 (SM-Synchron, DC-Synchron) -->
    <!-- Version 1.1a 2015-06-25, ConfigData für EtherCAT V5.11 0.4.0 (SM-Synchron) und V5.11 0.4.1 (SM-Synchron, DC-Synchron) aktualisiert -->
    <Vendor>
        <Id>15</Id>
        <Name>ESR Pollmeier GmbH</Name>
        <!-- <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00CCCCCCCCCCCCCCCCFFFFFFFFFFFFFFFFCCCCCCCCCCCCCCCCCFFFCFFFCFCFCFFFCFCCCCCFCFCFCFFFCFFCCFFFCFFCCFFFCFCCCFCCCFCFCFFFCFFFCFFFCFFCCFFFCCCCCCCCCCCCCCCCFFFFFFFFFFFFFFFFCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC</ImageData16x14> -->
        <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCFFFFFFFFFFFFFFFFCCCCCCCCCCCCCCCCCFFFCFFFCFCFCFFFCFCCCCCFCFCFCFFFCFFCCFFFCFFCCFFFCFCCCFCCCFCFCFFFCFFFCFFFCFFCCFFFCCCCCCCCCCCCCCCCFFFFFFFFFFFFFFFFCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC</ImageData16x14>
    </Vendor>
    <Descriptions>
        <Groups>
            <Group>
                <Type>Drive</Type>
                <Name LcId="1031">Servoregler</Name>
                <Name LcId="1033">Servo drives</Name>
                <Image16x14>DRIVE</Image16x14>
            </Group>
        </Groups>
        <Devices>
            <Device Physics="YY">
                <Type ProductCode="6780" RevisionNo="#x00050031">AC Servo Drive 67xx NG</Type>
                <Name LcId="1031"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.01 0.3.1)]]></Name>
                <Name LcId="1033"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.01 0.3.1)]]></Name>
                <GroupType>Drive</GroupType>
                <Profile>
                    <ProfileNo>402</ProfileNo>
                </Profile>
<!--
                <Dc>
                    <OpMode>
                        <Name></Name>
                        <AssignActivate></AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                    </OpMode>
                </Dc>
-->
                <Fmmu>Outputs</Fmmu>
                <Fmmu>Inputs</Fmmu>
                <Sm MinSize="32" MaxSize="256" DefaultSize="148" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
                <Sm MinSize="32" MaxSize="256" DefaultSize="148" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
                <Sm StartAddress="#x1000" ControlByte="#x64" Enable="1">Outputs</Sm>
                <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
                <RxPdo Fixed="0" Sm="2">
                    <Index>#x1600</Index>
                    <Name>RPDO1</Name>
                    <Entry>
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Control word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </RxPdo>
                <RxPdo Fixed="0">  <!-- PDO ohne SM-Zuweisung ist deaktiviert -->
                    <Index>#x1601</Index>
                    <Name>RPDO2</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1602</Index>
                    <Name>RPDO3</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1603</Index>
                    <Name>RPDO4</Name>
                </RxPdo>
                <TxPdo Fixed="0" Sm="3">
                    <Index>#x1A00</Index>
                    <Name>TPDO1</Name>
                    <Entry>
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Status word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A01</Index>
                    <Name>TPDO2</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A02</Index>
                    <Name>TPDO3</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A03</Index>
                    <Name>TPDO4</Name>
                </TxPdo>
                <Mailbox>
                    <!-- <FoE/> -->
                    <EoE IP="true" MAC="true" />
                    <CoE DS402Channels="1" SdoInfo="true" PdoAssign="true" PdoConfig="true" PdoUpload="false"/>
                </Mailbox>
                <Eeprom>
                    <ByteSize>2048</ByteSize>
                    <ConfigData>080000088813</ConfigData> <!-- 16 Bit MC, SYNC0 mapped to PDI-IRQ, 50us SYNC len -->
                    <!-- <ConfigData>800C0166881301000000</ConfigData> --> <!-- On Chip Bus, SYNC0 mapped to PDI-IRQ, 50us SYNC len -->
                </Eeprom>
            </Device>
            <Device Physics="YY">
                <Type ProductCode="6780" RevisionNo="#x00050040">AC Servo Drive 67xx NG</Type>
                <Name LcId="1031"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.11 0.4.0)]]></Name>
                <Name LcId="1033"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.11 0.4.0)]]></Name>
                <GroupType>Drive</GroupType>
                <Profile>
                    <ProfileNo>402</ProfileNo>
                </Profile>
                <Fmmu>Outputs</Fmmu>
                <Fmmu>Inputs</Fmmu>
                <Sm MinSize="34" MaxSize="256" DefaultSize="148" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
                <Sm MinSize="34" MaxSize="256" DefaultSize="148" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
                <Sm StartAddress="#x1000" ControlByte="#x64" Enable="1">Outputs</Sm>
                <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
                <RxPdo Fixed="0" Sm="2">
                    <Index>#x1600</Index>
                    <Name>RPDO1</Name>
                    <Entry>
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Control word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </RxPdo>
                <RxPdo Fixed="0">  <!-- PDO ohne SM-Zuweisung ist deaktiviert -->
                    <Index>#x1601</Index>
                    <Name>RPDO2</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1602</Index>
                    <Name>RPDO3</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1603</Index>
                    <Name>RPDO4</Name>
                </RxPdo>
                <TxPdo Fixed="0" Sm="3">
                    <Index>#x1A00</Index>
                    <Name>TPDO1</Name>
                    <Entry>
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Status word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A01</Index>
                    <Name>TPDO2</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A02</Index>
                    <Name>TPDO3</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A03</Index>
                    <Name>TPDO4</Name>
                </TxPdo>
                <Mailbox>
                    <!-- <FoE/> -->
                    <EoE IP="true" MAC="true" />
                    <CoE DS402Channels="1" SdoInfo="true" PdoAssign="true" PdoConfig="true" PdoUpload="false"/>
                </Mailbox>
                <Dc>
                    <OpMode>
                        <Name>Synchron</Name>
                        <Desc>SM-Synchron</Desc>
                        <AssignActivate>#x0</AssignActivate>
                    </OpMode>
                </Dc>
                <Eeprom>
                    <ByteSize>2048</ByteSize>
                    <ConfigData>8000000000000100000000000000</ConfigData> <!-- On Chip Bus -->
                </Eeprom>
            </Device>
            <Device Physics="YY">
                <Type ProductCode="6780" RevisionNo="#x00050041">AC Servo Drive 67xx NG</Type>
                <Name LcId="1031"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.11 0.4.1)]]></Name>
                <Name LcId="1033"><![CDATA[AC Servo Drive 67xx NG (EtherCAT Rev. V5.11 0.4.1)]]></Name>
                <GroupType>Drive</GroupType>
                <Profile>
                    <ProfileNo>402</ProfileNo>
                </Profile>
                <Fmmu>Outputs</Fmmu>
                <Fmmu>Inputs</Fmmu>
                <Sm MinSize="34" MaxSize="256" DefaultSize="148" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
                <Sm MinSize="34" MaxSize="256" DefaultSize="148" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
                <Sm StartAddress="#x1000" ControlByte="#x64" Enable="1">Outputs</Sm>
                <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
                <RxPdo Fixed="0" Sm="2">
                    <Index>#x1600</Index>
                    <Name>RPDO1</Name>
                    <Entry>
                        <Index>#x6040</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Control word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </RxPdo>
                <RxPdo Fixed="0">  <!-- PDO ohne SM-Zuweisung ist deaktiviert -->
                    <Index>#x1601</Index>
                    <Name>RPDO2</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1602</Index>
                    <Name>RPDO3</Name>
                </RxPdo>
                <RxPdo Fixed="0">
                    <Index>#x1603</Index>
                    <Name>RPDO4</Name>
                </RxPdo>
                <TxPdo Fixed="0" Sm="3">
                    <Index>#x1A00</Index>
                    <Name>TPDO1</Name>
                    <Entry>
                        <Index>#x6041</Index>
                        <SubIndex>0</SubIndex>
                        <BitLen>16</BitLen>
                        <Name>Status word</Name>
                        <DataType>UINT</DataType>
                    </Entry>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A01</Index>
                    <Name>TPDO2</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A02</Index>
                    <Name>TPDO3</Name>
                </TxPdo>
                <TxPdo Fixed="0">
                    <Index>#x1A03</Index>
                    <Name>TPDO4</Name>
                </TxPdo>
                <Mailbox>
                    <!-- <FoE/> -->
                    <EoE IP="true" MAC="true" />
                    <CoE DS402Channels="1" SdoInfo="true" PdoAssign="true" PdoConfig="true" PdoUpload="false"/>
                </Mailbox>
                <Dc>
                    <OpMode>
                        <Name>Synchron</Name>
                        <Desc>SM-Synchron</Desc>
                        <AssignActivate>#x0</AssignActivate>
                    </OpMode>
                    <OpMode>
                        <Name>DC</Name>
                        <Desc>DC-Synchron</Desc>
                        <AssignActivate>#x0300</AssignActivate>
                        <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
                        <ShiftTimeSync0>0</ShiftTimeSync0>
                    </OpMode>
                </Dc>
                <Eeprom>
                    <ByteSize>2048</ByteSize>
                    <ConfigData>8004002A00000100000000000000</ConfigData> <!-- On Chip Bus, DC active, SYNC0 high active mapped to PDI-IRQ, SYNC len=0 (acknowledge mode) -->
                </Eeprom>
            </Device>
        </Devices>
    </Descriptions>
</EtherCATInfo>
