ctrlXdrive

src/components.kuka.robotics/ctrl/test/KukaRoboticsTests.st

@@ -21,3 +21,8 @@ NAMESPACE AXOpen.Components.Kuka.Robotics.Tests
         END_METHOD
     END_CLASS    
 END_NAMESPACE
+
+
+
+
+

src/components.rexroth.drives/components.rexroth.drives.sln

@@ -1,4 +1,4 @@
-Microsoft Visual Studio Solution File, Format Version 12.00
+Microsoft Visual Studio Solution File, Format Version 12.00
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "this", "this.proj", "{C91BAA51-7B27-48BF-BE13-DED526D007B3}"
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "inxton_axopen_abstractions", "..\abstractions\src\AXOpen.Abstractions\inxton_axopen_abstractions.csproj", "{26B3BB63-88A9-4CDF-8F04-8E78F3284F6F}"

src/components.rexroth.drives/ctrl/assets/rexroth_ctrlx_drive/rexroth_ctrlx_drive_xcs.hwl.yml

@@ -1,3 +1,4 @@
+#<RexrothCtrlxDriveTemplate>
 Templates:
   Devices:
   - Name: 'rexroth_ctrlx_drive_xcs'
@@ -151,3 +152,4 @@ Templates:
                 FileName: 'GSDML-V2.41-BOSCH REXROTH AG-CTRLX DRIVE-20241107.XML'
                 GsdId: 'ID_SM_Operating_status_STO_P_0_0106_0_0_prod'
               Slot: 8
+#</RexrothCtrlxDriveTemplate>

src/components.rexroth.drives/ctrl/assets/rexroth_ctrlx_drive/rexroth_ctrlx_drive_xcs_linear.par

@@ -0,0 +1,349 @@
+SERCOS-ASCII
+03-Jun-26 15:26:06
+default
+FWA-XD1-AXS-V-0612N-NN-00 | XCS2-W0005FBN-01NETT0ECNN-S0612N4NNNN0NN | MSM019B-0300-NN-M5-MH0 | FUS2-01ET-T0ECNN | 1321002240107 | 2472392.7 | 000102476 | 175503.6 | 1321002240107 | 22032892.7
+1
+|
+P-0-0860.0.0
+Power supply, device: Configuration word
+01100000000000100000000000000001
+--
+--
+--
+0000.0000.0000.0011.0000.1000.0000.1000
+|
+P-0-0118.0.0
+DC bus supply: Configuration
+01100000000000010000000000000001
+--
+--
+--
+1000.0000.0000.0000
+|
+P-0-4089.0.1
+MCI configuration: Master communication, protocol
+00000000000100100000000000000001
+--
+--
+--
+4
+|
+P-0-4084.0.0
+Drive profile function: Selected
+01100000001100010000000000000001
+--
+--
+--
+0x0102
+|
+S-0-1050.0.6
+MCI connection 1: Configuration list (EIDN)
+01100000010101100000000000000001
+--
+--
+--
+40
+65532
+S-0-0134
+S-0-0145
+S-0-0282
+S-0-0259
+S-0-0260
+S-0-0359
+S-0-1720.0.1
+S-0-0092
+S-0-0080
+S-0-0193
+|
+S-0-1050.1.6
+MCI connection 2: Configuration list (EIDN)
+01100000010101100000000000000001
+--
+--
+--
+32
+65532
+S-0-0135
+S-0-0144
+S-0-0386
+S-0-0535
+S-0-0390
+S-0-1720.0.2
+S-0-0084
+P-0-0106
+|
+S-0-0027.0.0
+Signal control word: Configuration list
+00000000010101100000000000000001
+--
+--
+--
+64
+65532
+S-0-0346
+S-0-0000
+S-0-0148
+S-0-0346
+S-0-0346
+S-0-0099
+S-0-0346
+S-0-0346
+S-0-0420
+S-0-0422
+S-0-0191
+S-0-1350
+S-0-0000
+S-0-0000
+S-0-0000
+S-0-0447
+|
+S-0-0329.0.0
+Signal control word: Assign list signal
+00000000000101010000000000000001
+--
+0
+31
+32
+65534
+0
+2
+0
+3
+5
+0
+1
+2
+0
+0
+0
+0
+0
+0
+0
+0
+|
+S-0-0026.0.0
+Signal status word: Configuration list
+00000000010101100000000000000001
+--
+--
+--
+64
+65532
+S-0-0424
+S-0-0424
+S-0-0437
+S-0-0419
+S-0-0331
+P-0-0115
+S-0-0000
+S-0-0000
+P-0-0110
+S-0-0000
+S-0-0000
+S-0-0000
+S-0-0000
+S-0-0000
+S-0-0000
+S-0-0000
+|
+S-0-0328.0.0
+Signal status word: Assign list signal
+00000000000101010000000000000001
+--
+0
+31
+32
+65534
+0
+1
+2
+0
+0
+5
+0
+0
+7
+0
+0
+0
+0
+0
+0
+0
+|
+S-0-0448.0.0
+Set absolute position function: Control word
+00000000000000010000000000000001
+--
+--
+--
+0000.0000.1000.0001
+|
+S-0-0032.0.0
+Axis operation modes: Primary operation mode
+01000000000000010000000000000001
+--
+--
+--
+0000.0011.0010.0101
+|
+S-0-0033.0.0
+Axis operation modes: Secondary operation mode 1
+01000000000000010000000000000001
+--
+--
+--
+0000.0000.0000.0001
+|
+S-0-0034.0.0
+Axis operation modes: Secondary operation mode 2
+01000000000000010000000000000001
+--
+--
+--
+0000.0000.0000.0010
+|
+S-0-0035.0.0
+Axis operation modes: Secondary operation mode 3
+01000000000000010000000000000001
+--
+--
+--
+0000.0000.0000.0010
+|
+S-0-0076.0.0
+Position data scaling: Type
+01100000000000010000000000000001
+--
+--
+--
+0000.0000.0100.0001
+|
+S-0-0077.0.0
+Position data scaling: Factor
+01100000000100010000000000000001
+--
+1
+65535
+1
+|
+S-0-0078.0.0
+Position data scaling: Exponent
+01100000001000010000000000000001
+--
+-10
+0
+-7
+|
+S-0-0044.0.0
+Velocity data scaling: Type
+01100000000000010000000000000001
+--
+--
+--
+0000.0000.0110.1001
+|
+S-0-0045.0.0
+Velocity data scaling: Factor
+01100000000100010000000000000001
+--
+1
+65535
+1
+|
+S-0-0046.0.0
+Velocity data scaling: Exponent
+01100000001000010000000000000001
+--
+-10
+0
+-6
+|
+S-0-0160.0.0
+Acceleration data scaling: Type
+01100000000000010000000000000001
+--
+--
+--
+0000.0000.0100.0001
+|
+S-0-0161.0.0
+Acceleration data scaling: Factor
+01100000000100010000000000000001
+--
+1
+65535
+1
+|
+S-0-0162.0.0
+Acceleration data scaling: Exponent
+01100000001000010000000000000001
+--
+-10
+0
+-6
+|
+S-0-0086.0.0
+Torque/force data scaling: Type
+01100000000000010000000000000001
+--
+--
+--
+0000.0000.0100.0001
+|
+S-0-0093.0.0
+Torque/force data scaling: Factor
+01100000000100010000000000000001
+--
+1
+65535
+1
+|
+S-0-0094.0.0
+Torque/force data scaling: Exponent
+01100000001000010000000000000001
+--
+-15
+6
+0
+|
+P-0-0117.0.0
+Externally controlled error reaction: Configuration
+01000000000000010000000000000001
+--
+--
+--
+0000.0000.0000.0100
+|
+P-0-0117.0.2
+Externally controlled error reaction: Reaction time F4/F6/F7
+01000000000100010000000000000001
+ms
+0
+60000
+1000
+|
+P-0-0119.0.0
+Axis shutdown: Best possible shutdown
+01000000001100010000000000000001
+--
+--
+--
+0x0000
+|
+S-0-0273.0.0
+Axis shutdown: Maximum drive off delay time
+01000001000100100000000000000001
+ms
+500.0
+100000.0
+10000.0
+|
+P-0-0101.0.0
+STO function: Configuration
+01000000000000010000000000000001
+--
+--
+--
+0000.0000.0000.0001