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Commit cb3129a8 由 LN
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模拟量调试修改

1 个父辈 8566b42c
内嵌 并排
正在显示 7 个修改的文件 包含 69 行增加 和 21 行删除
DemoTest/DemoTest.csproj
...@@ -95,6 +95,7 @@ ...@@ -95,6 +95,7 @@
<Content Include="system_config.xml"> <Content Include="system_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content> </Content>
<Content Include="说明.txt" />
</ItemGroup> </ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project> </Project>
\ No newline at end of file \ No newline at end of file
DemoTest/device_config.xml
<?xml version="1.0" encoding="utf-8"?><EtherCATConfig><Config><Master><SysHwCfg>1</SysHwCfg><cycleTime>1000</cycleTime><Info><Name><![CDATA[Card 0 ]]></Name></Info></Master><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GR10_1616ETNE]]></Name><DeviceType>197009</DeviceType><VendorId>1048576</VendorId><ProductCode>284428562</ProductCode><RevisionNo>0</RevisionNo><ToltalVirSlot>2</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5888</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6912</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index>#x1B00</Index><Name>Digital input mapping parameter</Name><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input 10 to 17</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>0</SlotIdx><Index>#x1700</Index><Name>Digital output mapping parameter</Name><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output 10 to 17</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Error mode output]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>25094</Index><SubIndex>1</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave></Config></EtherCATConfig>
\ No newline at end of file \ No newline at end of file
<?xml version="1.0" encoding="utf-8"?><EtherCATConfig><Config><Master><SysHwCfg>1</SysHwCfg><cycleTime>1000</cycleTime><Info><Name><![CDATA[Card 0 ]]></Name></Info></Master><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><OpMode>0</OpMode><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[SV660]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786701</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>1</ToltalVirSlot><OpMode>0</OpMode><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GR10_1616ETNE]]></Name><DeviceType>197009</DeviceType><VendorId>1048576</VendorId><ProductCode>284428562</ProductCode><RevisionNo>0</RevisionNo><ToltalVirSlot>2</ToltalVirSlot><OpMode>0</OpMode></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5888</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6912</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>0</SlotIdx><Index>#x1B00</Index><Name>Digital input mapping parameter</Name><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input 10 to 17</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>0</SlotIdx><Index>#x1700</Index><Name>Digital output mapping parameter</Name><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output 10 to 17</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Error mode output]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>25094</Index><SubIndex>1</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave><Slave><Info><Name><![CDATA[GR10-4ADE]]></Name><DeviceType>262545</DeviceType><VendorId>1048576</VendorId><ProductCode>284426864</ProductCode><RevisionNo>0</RevisionNo><ToltalVirSlot>1</ToltalVirSlot><OpMode>0</OpMode></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>6048</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6912</Pdo></Sm3><TxPdo Fixed="true" Mandatory="true" Sm="3"><SlotIdx>0</SlotIdx><Index>#x1B00</Index><Name>4AD Input maping</Name><Entry><DevType>4</DevType><Index Selected="0">#x6401</Index><SubIndex>1</SubIndex><BitLen>16</BitLen><Name>AD CH0</Name><DataType>INT</DataType></Entry><Entry><DevType>4</DevType><Index Selected="0">#x6401</Index><SubIndex>2</SubIndex><BitLen>16</BitLen><Name>AD CH1</Name><DataType>INT</DataType></Entry><Entry><DevType>4</DevType><Index Selected="0">#x6401</Index><SubIndex>3</SubIndex><BitLen>16</BitLen><Name>AD CH2</Name><DataType>INT</DataType></Entry><Entry><DevType>4</DevType><Index Selected="0">#x6401</Index><SubIndex>4</SubIndex><BitLen>16</BitLen><Name>AD CH3</Name><DataType>INT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="true" Sm="2"><SlotIdx>0</SlotIdx><Index>#x17A0</Index><Name>Device RPDO Mapping parameter</Name><Entry><DevType>7</DevType><Index Selected="0">#xFB00</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>Device control</Name><DataType>UINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[AD module channel transform mode]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>32772</Index><SubIndex>1</SubIndex><Data>80808080</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[AD module channel filter parameters]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>32772</Index><SubIndex>2</SubIndex><Data>08080808</Data><BitLen>32</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[AD module channel other parameters]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>32772</Index><SubIndex>3</SubIndex><Data>0000</Data><BitLen>16</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave></Config></EtherCATConfig>
\ No newline at end of file \ No newline at end of file
DemoTest/system_config.xml
<?xml version="1.0" encoding="utf-8"?><CardConfig id="0"><System><SysPara><emgMode>1</emgMode><emgFilter>19</emgFilter><emgTrigLevelInv>1</emgTrigLevelInv></SysPara></System><Signal><EcatSignal><DiInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DiInverse><DoInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DoInverse><PhyAxGrpDirInv><Groups><GpMax>8</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp></Groups></PhyAxGrpDirInv></EcatSignal><LocalSignal><DiInverse><data>0</data></DiInverse><DoInverse><data>0</data></DoInverse><SpecialDiInverses><SpecialDiInverse type="0"><data>0</data></SpecialDiInverse><SpecialDiInverse type="1"><data>0</data></SpecialDiInverse><SpecialDiInverse type="2"><data>0</data></SpecialDiInverse><SpecialDiInverse type="3"><data>0</data></SpecialDiInverse><SpecialDiInverse type="4"><data>0</data></SpecialDiInverse><SpecialDiInverse type="5"><data>0</data></SpecialDiInverse><SpecialDiInverse type="6"><data>0</data></SpecialDiInverse></SpecialDiInverses><DiFilterTimes><DiFilterTime id="0">1</DiFilterTime><DiFilterTime id="1">1</DiFilterTime><DiFilterTime id="2">1</DiFilterTime><DiFilterTime id="3">1</DiFilterTime><DiFilterTime id="4">1</DiFilterTime><DiFilterTime id="5">1</DiFilterTime><DiFilterTime id="6">1</DiFilterTime><DiFilterTime id="7">1</DiFilterTime><DiFilterTime id="8">1</DiFilterTime><DiFilterTime id="9">1</DiFilterTime><DiFilterTime id="10">1</DiFilterTime><DiFilterTime id="11">1</DiFilterTime><DiFilterTime id="12">1</DiFilterTime><DiFilterTime id="13">1</DiFilterTime><DiFilterTime id="14">1</DiFilterTime><DiFilterTime id="15">1</DiFilterTime></DiFilterTimes><homeFltTime>0</homeFltTime><limitFltTime>0</limitFltTime><probeFltTime>0</probeFltTime><LocalEncDirs><LocalEncDir id="0">0</LocalEncDir><LocalEncDir id="1">0</LocalEncDir><LocalEncDir id="2">0</LocalEncDir><LocalEncDir id="3">0</LocalEncDir><LocalEncDir id="4">0</LocalEncDir><LocalEncDir id="5">0</LocalEncDir></LocalEncDirs><LocalPulses><LocalPulse id="0"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="1"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="2"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="3"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="4"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="5"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse></LocalPulses></LocalSignal></Signal><Axises><Axis id="0"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>10000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="1"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>10000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>1</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="2"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>2</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="3"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>3</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="4"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>4</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="5"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>5</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="6"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>6</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="7"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>7</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="8"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="9"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="10"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="11"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="12"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="13"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="14"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="15"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="16"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="17"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="18"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="19"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="20"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="21"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="22"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="23"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="24"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="25"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="26"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="27"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="28"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="29"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="30"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="31"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis></Axises></CardConfig>
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<?xml version="1.0" encoding="utf-8"?><CardConfig id="0"><System><SysPara><emgMode>1</emgMode><emgFilter>19</emgFilter><emgTrigLevelInv>1</emgTrigLevelInv></SysPara></System><Signal><EcatSignal><DiInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DiInverse><DoInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DoInverse><PhyAxGrpDirInv><Groups><GpMax>5</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp></Groups></PhyAxGrpDirInv></EcatSignal><LocalSignal><DiInverse><data>0</data></DiInverse><DoInverse><data>0</data></DoInverse><SpecialDiInverses><SpecialDiInverse type="0"><data>0</data></SpecialDiInverse><SpecialDiInverse type="1"><data>0</data></SpecialDiInverse><SpecialDiInverse type="2"><data>0</data></SpecialDiInverse><SpecialDiInverse type="3"><data>0</data></SpecialDiInverse><SpecialDiInverse type="4"><data>0</data></SpecialDiInverse><SpecialDiInverse type="5"><data>0</data></SpecialDiInverse><SpecialDiInverse type="6"><data>0</data></SpecialDiInverse></SpecialDiInverses><DiFilterTimes><DiFilterTime id="0">1</DiFilterTime><DiFilterTime id="1">1</DiFilterTime><DiFilterTime id="2">1</DiFilterTime><DiFilterTime id="3">1</DiFilterTime><DiFilterTime id="4">1</DiFilterTime><DiFilterTime id="5">1</DiFilterTime><DiFilterTime id="6">1</DiFilterTime><DiFilterTime id="7">1</DiFilterTime><DiFilterTime id="8">1</DiFilterTime><DiFilterTime id="9">1</DiFilterTime><DiFilterTime id="10">1</DiFilterTime><DiFilterTime id="11">1</DiFilterTime><DiFilterTime id="12">1</DiFilterTime><DiFilterTime id="13">1</DiFilterTime><DiFilterTime id="14">1</DiFilterTime><DiFilterTime id="15">1</DiFilterTime></DiFilterTimes><homeFltTime>0</homeFltTime><limitFltTime>0</limitFltTime><probeFltTime>0</probeFltTime><LocalEncDirs><LocalEncDir id="0">0</LocalEncDir><LocalEncDir id="1">0</LocalEncDir><LocalEncDir id="2">0</LocalEncDir><LocalEncDir id="3">0</LocalEncDir><LocalEncDir id="4">0</LocalEncDir><LocalEncDir id="5">0</LocalEncDir></LocalEncDirs><LocalPulses><LocalPulse id="0"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="1"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="2"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="3"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="4"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="5"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse></LocalPulses></LocalSignal></Signal><Axises><Axis id="0"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="1"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>1</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="2"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>2</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="3"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>3</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="4"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>4</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="5"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="6"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="7"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="8"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="9"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="10"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="11"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="12"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="13"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="14"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="15"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="16"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="17"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="18"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="19"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="20"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="21"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="22"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="23"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="24"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="25"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="26"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="27"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="28"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="29"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="30"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="31"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis></Axises></CardConfig>
\ No newline at end of file \ No newline at end of file
DemoTest/说明.txt 0 → 100644
20200303
获取模拟量IO方法：
public static short GetAdVal(short adNo)
值说明：
3754 -20
4380 -10
5005 0
5317 5
10mm对应625,1mm=62.5；
\ No newline at end of file \ No newline at end of file
HuichuanLibrary/FrmHuiChuanTest.Designer.cs
...@@ -212,6 +212,7 @@ ...@@ -212,6 +212,7 @@
this.richTextBox1 = new System.Windows.Forms.RichTextBox(); this.richTextBox1 = new System.Windows.Forms.RichTextBox();
this.timerIO = new System.Windows.Forms.Timer(this.components); this.timerIO = new System.Windows.Forms.Timer(this.components);
this.timerMain = new System.Windows.Forms.Timer(this.components); this.timerMain = new System.Windows.Forms.Timer(this.components);
this.chbAuto = new System.Windows.Forms.CheckBox();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout(); this.tabPage1.SuspendLayout();
this.groupBox8.SuspendLayout(); this.groupBox8.SuspendLayout();
...@@ -1322,11 +1323,11 @@ ...@@ -1322,11 +1323,11 @@
this.tabPage2.Controls.Add(this.groupBox9); this.tabPage2.Controls.Add(this.groupBox9);
this.tabPage2.Controls.Add(this.groupBox10); this.tabPage2.Controls.Add(this.groupBox10);
this.tabPage2.Controls.Add(this.groupBox1); this.tabPage2.Controls.Add(this.groupBox1);
this.tabPage2.Location = new System.Drawing.Point(4, 22); this.tabPage2.Location = new System.Drawing.Point(4, 26);
this.tabPage2.Margin = new System.Windows.Forms.Padding(2); this.tabPage2.Margin = new System.Windows.Forms.Padding(2);
this.tabPage2.Name = "tabPage2"; this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(2); this.tabPage2.Padding = new System.Windows.Forms.Padding(2);
this.tabPage2.Size = new System.Drawing.Size(750, 562); this.tabPage2.Size = new System.Drawing.Size(750, 558);
this.tabPage2.TabIndex = 1; this.tabPage2.TabIndex = 1;
this.tabPage2.Text = " 数字量IO "; this.tabPage2.Text = " 数字量IO ";
// //
...@@ -2049,6 +2050,7 @@ ...@@ -2049,6 +2050,7 @@
// //
// groupBox5 // groupBox5
// //
this.groupBox5.Controls.Add(this.chbAuto);
this.groupBox5.Controls.Add(this.lblAdSts); this.groupBox5.Controls.Add(this.lblAdSts);
this.groupBox5.Controls.Add(this.txtAdSts4); this.groupBox5.Controls.Add(this.txtAdSts4);
this.groupBox5.Controls.Add(this.label11); this.groupBox5.Controls.Add(this.label11);
...@@ -2077,31 +2079,34 @@ ...@@ -2077,31 +2079,34 @@
// lblAdSts // lblAdSts
// //
this.lblAdSts.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(0))))); this.lblAdSts.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
this.lblAdSts.Location = new System.Drawing.Point(372, 29); this.lblAdSts.Location = new System.Drawing.Point(681, 29);
this.lblAdSts.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.lblAdSts.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAdSts.Name = "lblAdSts"; this.lblAdSts.Name = "lblAdSts";
this.lblAdSts.Size = new System.Drawing.Size(354, 202); this.lblAdSts.Size = new System.Drawing.Size(45, 202);
this.lblAdSts.TabIndex = 31; this.lblAdSts.TabIndex = 31;
this.lblAdSts.Text = "通道1值："; this.lblAdSts.Text = "通道1值：";
this.lblAdSts.Visible = false;
// //
// txtAdSts4 // txtAdSts4
// //
this.txtAdSts4.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.txtAdSts4.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAdSts4.Location = new System.Drawing.Point(259, 159); this.txtAdSts4.Location = new System.Drawing.Point(624, 164);
this.txtAdSts4.Margin = new System.Windows.Forms.Padding(2); this.txtAdSts4.Margin = new System.Windows.Forms.Padding(2);
this.txtAdSts4.Name = "txtAdSts4"; this.txtAdSts4.Name = "txtAdSts4";
this.txtAdSts4.Size = new System.Drawing.Size(85, 26); this.txtAdSts4.Size = new System.Drawing.Size(85, 26);
this.txtAdSts4.TabIndex = 30; this.txtAdSts4.TabIndex = 30;
this.txtAdSts4.Visible = false;
// //
// label11 // label11
// //
this.label11.AutoSize = true; this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(176, 164); this.label11.Location = new System.Drawing.Point(541, 169);
this.label11.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label11.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label11.Name = "label11"; this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(75, 17); this.label11.Size = new System.Drawing.Size(75, 17);
this.label11.TabIndex = 29; this.label11.TabIndex = 29;
this.label11.Text = "通道1状态："; this.label11.Text = "通道1状态：";
this.label11.Visible = false;
// //
// txtAd4 // txtAd4
// //
...@@ -2125,21 +2130,23 @@ ...@@ -2125,21 +2130,23 @@
// txtAdSts3 // txtAdSts3
// //
this.txtAdSts3.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.txtAdSts3.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAdSts3.Location = new System.Drawing.Point(259, 117); this.txtAdSts3.Location = new System.Drawing.Point(624, 122);
this.txtAdSts3.Margin = new System.Windows.Forms.Padding(2); this.txtAdSts3.Margin = new System.Windows.Forms.Padding(2);
this.txtAdSts3.Name = "txtAdSts3"; this.txtAdSts3.Name = "txtAdSts3";
this.txtAdSts3.Size = new System.Drawing.Size(85, 26); this.txtAdSts3.Size = new System.Drawing.Size(85, 26);
this.txtAdSts3.TabIndex = 26; this.txtAdSts3.TabIndex = 26;
this.txtAdSts3.Visible = false;
// //
// label9 // label9
// //
this.label9.AutoSize = true; this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(176, 122); this.label9.Location = new System.Drawing.Point(541, 127);
this.label9.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label9.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label9.Name = "label9"; this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(75, 17); this.label9.Size = new System.Drawing.Size(75, 17);
this.label9.TabIndex = 25; this.label9.TabIndex = 25;
this.label9.Text = "通道1状态："; this.label9.Text = "通道1状态：";
this.label9.Visible = false;
// //
// txtAd3 // txtAd3
// //
...@@ -2163,21 +2170,23 @@ ...@@ -2163,21 +2170,23 @@
// txtAdSts2 // txtAdSts2
// //
this.txtAdSts2.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.txtAdSts2.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAdSts2.Location = new System.Drawing.Point(259, 74); this.txtAdSts2.Location = new System.Drawing.Point(624, 79);
this.txtAdSts2.Margin = new System.Windows.Forms.Padding(2); this.txtAdSts2.Margin = new System.Windows.Forms.Padding(2);
this.txtAdSts2.Name = "txtAdSts2"; this.txtAdSts2.Name = "txtAdSts2";
this.txtAdSts2.Size = new System.Drawing.Size(85, 26); this.txtAdSts2.Size = new System.Drawing.Size(85, 26);
this.txtAdSts2.TabIndex = 22; this.txtAdSts2.TabIndex = 22;
this.txtAdSts2.Visible = false;
// //
// label5 // label5
// //
this.label5.AutoSize = true; this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(176, 79); this.label5.Location = new System.Drawing.Point(541, 84);
this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label5.Name = "label5"; this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(75, 17); this.label5.Size = new System.Drawing.Size(75, 17);
this.label5.TabIndex = 21; this.label5.TabIndex = 21;
this.label5.Text = "通道1状态："; this.label5.Text = "通道1状态：";
this.label5.Visible = false;
// //
// txtAd2 // txtAd2
// //
...@@ -2201,7 +2210,7 @@ ...@@ -2201,7 +2210,7 @@
// btnAdGet // btnAdGet
// //
this.btnAdGet.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnAdGet.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnAdGet.Location = new System.Drawing.Point(179, 226); this.btnAdGet.Location = new System.Drawing.Point(67, 212);
this.btnAdGet.Margin = new System.Windows.Forms.Padding(2); this.btnAdGet.Margin = new System.Windows.Forms.Padding(2);
this.btnAdGet.Name = "btnAdGet"; this.btnAdGet.Name = "btnAdGet";
this.btnAdGet.Size = new System.Drawing.Size(100, 35); this.btnAdGet.Size = new System.Drawing.Size(100, 35);
...@@ -2213,21 +2222,23 @@ ...@@ -2213,21 +2222,23 @@
// txtAdSts1 // txtAdSts1
// //
this.txtAdSts1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.txtAdSts1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.txtAdSts1.Location = new System.Drawing.Point(259, 32); this.txtAdSts1.Location = new System.Drawing.Point(624, 37);
this.txtAdSts1.Margin = new System.Windows.Forms.Padding(2); this.txtAdSts1.Margin = new System.Windows.Forms.Padding(2);
this.txtAdSts1.Name = "txtAdSts1"; this.txtAdSts1.Name = "txtAdSts1";
this.txtAdSts1.Size = new System.Drawing.Size(85, 26); this.txtAdSts1.Size = new System.Drawing.Size(85, 26);
this.txtAdSts1.TabIndex = 17; this.txtAdSts1.TabIndex = 17;
this.txtAdSts1.Visible = false;
// //
// label7 // label7
// //
this.label7.AutoSize = true; this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(176, 37); this.label7.Location = new System.Drawing.Point(541, 42);
this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0); this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label7.Name = "label7"; this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(75, 17); this.label7.Size = new System.Drawing.Size(75, 17);
this.label7.TabIndex = 16; this.label7.TabIndex = 16;
this.label7.Text = "通道1状态："; this.label7.Text = "通道1状态：";
this.label7.Visible = false;
// //
// txtAd1 // txtAd1
// //
...@@ -2345,6 +2356,17 @@ ...@@ -2345,6 +2356,17 @@
this.timerMain.Interval = 1000; this.timerMain.Interval = 1000;
this.timerMain.Tick += new System.EventHandler(this.timerMain_Tick); this.timerMain.Tick += new System.EventHandler(this.timerMain_Tick);
// //
// chbAuto
//
this.chbAuto.AutoSize = true;
this.chbAuto.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbAuto.Location = new System.Drawing.Point(193, 217);
this.chbAuto.Name = "chbAuto";
this.chbAuto.Size = new System.Drawing.Size(84, 24);
this.chbAuto.TabIndex = 32;
this.chbAuto.Text = "自动读取";
this.chbAuto.UseVisualStyleBackColor = true;
//
// FrmHuiChuanTest // FrmHuiChuanTest
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
...@@ -2575,5 +2597,6 @@ ...@@ -2575,5 +2597,6 @@
private System.Windows.Forms.TextBox txtAd1; private System.Windows.Forms.TextBox txtAd1;
private System.Windows.Forms.Label label6; private System.Windows.Forms.Label label6;
private System.Windows.Forms.Label lblAdSts; private System.Windows.Forms.Label lblAdSts;
private System.Windows.Forms.CheckBox chbAuto;
} }
} }
\ No newline at end of file \ No newline at end of file
HuichuanLibrary/FrmHuiChuanTest.cs
...@@ -590,6 +590,11 @@ namespace HuichuanLibrary ...@@ -590,6 +590,11 @@ namespace HuichuanLibrary
{ {
FormStatus(true ); FormStatus(true );
} }
if (chbAuto.Checked)
{
ReadAdValue();
}
} }
else else
...@@ -632,15 +637,24 @@ namespace HuichuanLibrary ...@@ -632,15 +637,24 @@ namespace HuichuanLibrary
MessageBox.Show("板卡未初始化完成！"); MessageBox.Show("板卡未初始化完成！");
return; return;
} }
ReadAdValue();
//txtAdSts1.Text = ConSts(HCBoardManager.GetAdSts(0));
//txtAdSts2.Text = ConSts(HCBoardManager.GetAdSts(1));
//txtAdSts3.Text = ConSts(HCBoardManager.GetAdSts(2));
//txtAdSts4.Text = ConSts(HCBoardManager.GetAdSts(3));
}
private void ReadAdValue()
{
if (!HCBoardManager.CardInitOk())
{
return;
}
txtAd1.Text = HCBoardManager.GetAdVal(0).ToString(); txtAd1.Text = HCBoardManager.GetAdVal(0).ToString();
txtAd2.Text = HCBoardManager.GetAdVal(1).ToString(); txtAd2.Text = HCBoardManager.GetAdVal(1).ToString();
txtAd3.Text = HCBoardManager.GetAdVal(2).ToString(); txtAd3.Text = HCBoardManager.GetAdVal(2).ToString();
txtAd4.Text = HCBoardManager.GetAdVal(3).ToString(); txtAd4.Text = HCBoardManager.GetAdVal(3).ToString();
txtAdSts1.Text = ConSts(HCBoardManager.GetAdSts(0));
txtAdSts2.Text = ConSts(HCBoardManager.GetAdSts(1));
txtAdSts3.Text = ConSts(HCBoardManager.GetAdSts(2));
txtAdSts4.Text = ConSts(HCBoardManager.GetAdSts(3));
} }
private string ConSts(short input) private string ConSts(short input)
......
HuichuanLibrary/HCBoardManager.cs
...@@ -547,7 +547,7 @@ namespace HuichuanLibrary ...@@ -547,7 +547,7 @@ namespace HuichuanLibrary
#region AD/DA控制 #region AD/DA控制
/// <summary> /// <summary>
/// 获取EtherCAT 第 adNo号的ad值 /// 模拟量IO值获取 获取EtherCAT 第 adNo号的ad值
/// </summary> /// </summary>
/// <param name="adNo">ad的通道：0~配置个数</param> /// <param name="adNo">ad的通道：0~配置个数</param>
/// <returns>获取AD的输入值</returns> /// <returns>获取AD的输入值</returns>
......
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