Hi there is an issue that we are facing
when we engage the robot by writing the value to the path
root/Logic/stateCommand with value as 2
the robot after brake release is running at high speeds
we are not giving any move commands to the drives ,we are just reading the feedback from the drive such as position velocity etc. by writing to the TxPDO's of drive
no value is sent to the RxPDO's of drive

from the GUI we checked that the target and actual values of the joints are matching
what could be the possible reasons for this?

A few questions:

  • is the drive in synchronous position mode?
  • where did you map the target position to? Please share your ethercat configuration here (master.xml).
  • the target position should not change when switching the robot on, unless the actuator limiters are setup wrong or the axes are not referenced properly. Check the target position for the drive before switcing it on.

Yes the drives are in CSP mode.
the target position is mapped to RxPDO and is mapped to the path ->

"root/Control/actuatorControlLoops/actuatorControlLoop01/motorSetpointOut"
"root/Simulator/targetPosition"

the target position did not change before switching it ON and we referenced all the axis.

This XML file does not appear to have any style information associated with it. The document tree is shown below.
<Motorcortex Version="2.0">
<FieldBusList>
<FieldBus Type="EtherCAT" Device="0" Name="Ethercat">
<Domain Group="" Name="Robot" Simulation="false">
<Device Alias="0" Name="Axis1" AllowOverlappingPdos="false">
<Mailbox/>
<Dc>
<AssignActivate>768</AssignActivate>
<CycleTimeSync0>1000000</CycleTimeSync0>
<CycleTimeSync1>50000</CycleTimeSync1>
<ShiftTimeSync0>0</ShiftTimeSync0>
<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
<Sm Enable="true" StartAddress="#x1000" ControlByte="#x26" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1400" ControlByte="#x22" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1800" ControlByte="#x64" DefaultSize="29"/>
<Sm Enable="true" StartAddress="#x1c00" ControlByte="#x20" DefaultSize="45"/>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 1">
<Index>#x1600</Index>
<Entry Name="Controlword">
<Link Index="0" Simulation="false">root/DriveLogic/driveControlWord</Link>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation">
<Link Index="0" Simulation="false">root/DriveLogic/driveOpMode</Link>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop01/motorTorqueSetpointOut</Link>
<Link Index="0" Simulation="true">root/Simulator/targetTorque</Link>
<Index>#x6071</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Target position">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop01/motorSetpointOut</Link>
<Link Index="0" Simulation="true">root/Simulator/targetPosition</Link>
<Index>#x607A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Target velocity">
<Index>#x60FF</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop01/motorTorqueOffsetOut</Link>
<Link Index="0" Simulation="true">root/Simulator/targetTorqueOffset</Link>
<Index>#x60B2</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Tuning command">
<Index>#x2701</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Target joint torque">
<Index>#x2A03</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 2" Visible="false" Included="false">
<Index>#x1601</Index>
<Entry Name="Physical outputs">
<Index>#x60FE</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Bit mask">
<Index>#x60FE</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 3" Visible="false" Included="false">
<Index>#x1602</Index>
<Entry Name="User MOSI">
<Index>#x2703</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
<Index>#x60B1</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 1">
<Index>#x1A00</Index>
<Entry Name="Statusword">
<Link Index="0" Simulation="false">root/DriveLogic/driveStatusWord</Link>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation display">
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Position actual value">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop01/actualMotorPositionIn</Link>
<Link Index="0" Simulation="true">root/Simulator/positionValue</Link>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity actual value">
<Index>#x606C</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 2">
<Index>#x1A01</Index>
<Entry Name="Analog input 1">
<Index>#x2401</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 2">
<Index>#x2402</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 3">
<Index>#x2403</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Analog input 4">
<Index>#x2404</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Tuning status">
<Index>#x2702</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Secondary position value">
<Index>#x230A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Secondary velocity value">
<Index>#x230B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="Inputs">
<Index>#x1A02</Index>
<Entry Name="Estop">
<Index>#x60FD</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Torque actual">
<Index>#x6077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Temperature">
<Index>#x2031</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 4">
<Index>#x1A03</Index>
<Entry Name="User MISO">
<Index>#x2704</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Timestamp">
<Index>#x20F0</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Position demand internal value">
<Index>#x60FC</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity demand value">
<Index>#x606B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque demand">
<Index>#x6074</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Encoder 1 position">
<Index>#x2111</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Encoder 2 position">
<Index>#x2113</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
<Device Alias="1" Name="Axis2" AllowOverlappingPdos="false">
<Mailbox/>
<Dc>
<AssignActivate>768</AssignActivate>
<CycleTimeSync0>1000000</CycleTimeSync0>
<CycleTimeSync1>50000</CycleTimeSync1>
<ShiftTimeSync0>0</ShiftTimeSync0>
<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
<Sm Enable="true" StartAddress="#x1000" ControlByte="#x26" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1400" ControlByte="#x22" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1800" ControlByte="#x64" DefaultSize="29"/>
<Sm Enable="true" StartAddress="#x1c00" ControlByte="#x20" DefaultSize="45"/>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 1">
<Index>#x1600</Index>
<Entry Name="Controlword">
<Link Index="1" Simulation="false">root/DriveLogic/driveControlWord</Link>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation">
<Link Index="1" Simulation="false">root/DriveLogic/driveOpMode</Link>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop02/motorTorqueSetpointOut</Link>
<Link Index="1" Simulation="true">root/Simulator/targetTorque</Link>
<Index>#x6071</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Target position">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop02/motorSetpointOut</Link>
<Link Index="1" Simulation="true">root/Simulator/targetPosition</Link>
<Index>#x607A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Target velocity">
<Index>#x60FF</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop02/motorTorqueOffsetOut</Link>
<Link Index="1" Simulation="true">root/Simulator/targetTorqueOffset</Link>
<Index>#x60B2</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Tuning command">
<Index>#x2701</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Target joint torque">
<Index>#x2A03</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 2" Visible="false" Included="false">
<Index>#x1601</Index>
<Entry Name="Physical outputs">
<Index>#x60FE</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Bit mask">
<Index>#x60FE</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 3" Visible="false" Included="false">
<Index>#x1602</Index>
<Entry Name="User MOSI">
<Index>#x2703</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
<Index>#x60B1</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 1">
<Index>#x1A00</Index>
<Entry Name="Statusword">
<Link Index="1" Simulation="false">root/DriveLogic/driveStatusWord</Link>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation display">
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Position actual value">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop02/actualMotorPositionIn</Link>
<Link Index="1" Simulation="true">root/Simulator/positionValue</Link>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity actual value">
<Index>#x606C</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 2">
<Index>#x1A01</Index>
<Entry Name="Analog input 1">
<Index>#x2401</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 2">
<Index>#x2402</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 3">
<Index>#x2403</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Analog input 4">
<Index>#x2404</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Tuning status">
<Index>#x2702</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Secondary position value">
<Index>#x230A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Secondary velocity value">
<Index>#x230B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="Inputs">
<Index>#x1A02</Index>
<Entry Name="Torque actual">
<Index>#x6077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Temperature">
<Index>#x2031</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 4">
<Index>#x1A03</Index>
<Entry Name="User MISO">
<Index>#x2704</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Timestamp">
<Index>#x20F0</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Position demand internal value">
<Index>#x60FC</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity demand value">
<Index>#x606B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque demand">
<Index>#x6074</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Encoder 1 position">
<Index>#x2111</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Encoder 2 position">
<Index>#x2113</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
<Device Alias="2" Name="Axis3" AllowOverlappingPdos="false">
<Mailbox/>
<Dc>
<AssignActivate>768</AssignActivate>
<CycleTimeSync0>1000000</CycleTimeSync0>
<CycleTimeSync1>50000</CycleTimeSync1>
<ShiftTimeSync0>0</ShiftTimeSync0>
<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
<Sm Enable="true" StartAddress="#x1000" ControlByte="#x26" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1400" ControlByte="#x22" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1800" ControlByte="#x64" DefaultSize="29"/>
<Sm Enable="true" StartAddress="#x1c00" ControlByte="#x20" DefaultSize="45"/>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 1">
<Index>#x1600</Index>
<Entry Name="Controlword">
<Link Index="2" Simulation="false">root/DriveLogic/driveControlWord</Link>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation">
<Link Index="2" Simulation="false">root/DriveLogic/driveOpMode</Link>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop03/motorTorqueSetpointOut</Link>
<Link Index="2" Simulation="true">root/Simulator/targetTorque</Link>
<Index>#x6071</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Target position">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop03/motorSetpointOut</Link>
<Link Index="2" Simulation="true">root/Simulator/targetPosition</Link>
<Index>#x607A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Target velocity">
<Index>#x60FF</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop03/motorTorqueOffsetOut</Link>
<Link Index="2" Simulation="true">root/Simulator/targetTorqueOffset</Link>
<Index>#x60B2</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Tuning command">
<Index>#x2701</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Target joint torque">
<Index>#x2A03</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 2" Visible="false" Included="false">
<Index>#x1601</Index>
<Entry Name="Physical outputs">
<Index>#x60FE</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Bit mask">
<Index>#x60FE</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="2" Fixed="false" Mandatory="false" Group="RxPDO Mapping 3" Visible="false" Included="false">
<Index>#x1602</Index>
<Entry Name="User MOSI">
<Index>#x2703</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
<Index>#x60B1</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 1">
<Index>#x1A00</Index>
<Entry Name="Statusword">
<Link Index="2" Simulation="false">root/DriveLogic/driveStatusWord</Link>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation display">
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Position actual value">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop03/actualMotorPositionIn</Link>
<Link Index="2" Simulation="true">root/Simulator/positionValue</Link>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity actual value">
<Index>#x606C</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 2">
<Index>#x1A01</Index>
<Entry Name="Analog input 1">
<Index>#x2401</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 2">
<Index>#x2402</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
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</Entry>
</TxPdo>
</Device>
<Device Alias="3" Name="Axis4" AllowOverlappingPdos="false">
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<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
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<DataType>INT8</DataType>
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<Entry Name="Target Torque">
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</Entry>
<Entry Name="Torque offset">
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</Entry>
</TxPdo>
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<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
<Device Alias="4" Name="Axis5" AllowOverlappingPdos="false">
<Mailbox/>
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<AssignActivate>768</AssignActivate>
<CycleTimeSync0>1000000</CycleTimeSync0>
<CycleTimeSync1>50000</CycleTimeSync1>
<ShiftTimeSync0>0</ShiftTimeSync0>
<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
<Sm Enable="true" StartAddress="#x1000" ControlByte="#x26" DefaultSize="1024"/>
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<Entry Name="Controlword">
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<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation">
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<SubIndex>0</SubIndex>
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<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
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<DataType>INT16</DataType>
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<Entry Name="Target position">
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<DataType>INT32</DataType>
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<Entry Name="Target velocity">
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<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop05/motorTorqueOffsetOut</Link>
<Link Index="4" Simulation="true">root/Simulator/targetTorqueOffset</Link>
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<DataType>INT16</DataType>
</Entry>
<Entry Name="Tuning command">
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<DataType>UINT32</DataType>
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<Entry Name="Target joint torque">
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<DataType>INT32</DataType>
</Entry>
</RxPdo>
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<DataType>UINT32</DataType>
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<DataType>UINT32</DataType>
</Entry>
</RxPdo>
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<Entry Name="User MOSI">
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<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
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<DataType>INT32</DataType>
</Entry>
</RxPdo>
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<Entry Name="Statusword">
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<DataType>UINT16</DataType>
</Entry>
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<DataType>INT8</DataType>
</Entry>
<Entry Name="Position actual value">
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<Link Index="4" Simulation="true">root/Simulator/positionValue</Link>
<Index>#x6064</Index>
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<DataType>INT32</DataType>
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<Entry Name="Velocity actual value">
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<Entry Name="Secondary velocity value">
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</Entry>
</TxPdo>
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</TxPdo>
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</Entry>
<Entry Name="Encoder 1 position">
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<DataType>INT32</DataType>
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<Index>#x2113</Index>
<SubIndex>2</SubIndex>
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<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
<Device Alias="5" Name="Axis6" AllowOverlappingPdos="false">
<Mailbox/>
<Dc>
<AssignActivate>768</AssignActivate>
<CycleTimeSync0>1000000</CycleTimeSync0>
<CycleTimeSync1>50000</CycleTimeSync1>
<ShiftTimeSync0>0</ShiftTimeSync0>
<ShiftTimeSync1>0</ShiftTimeSync1>
</Dc>
<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
<Sm Enable="true" StartAddress="#x1000" ControlByte="#x26" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1400" ControlByte="#x22" DefaultSize="1024"/>
<Sm Enable="true" StartAddress="#x1800" ControlByte="#x64" DefaultSize="29"/>
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<Index>#x1600</Index>
<Entry Name="Controlword">
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<Index>#x6040</Index>
<SubIndex>0</SubIndex>
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<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation">
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<Index>#x6060</Index>
<SubIndex>0</SubIndex>
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<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
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<DataType>INT16</DataType>
</Entry>
<Entry Name="Target position">
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<DataType>INT32</DataType>
</Entry>
<Entry Name="Target velocity">
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<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
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<Link Index="5" Simulation="true">root/Simulator/targetTorqueOffset</Link>
<Index>#x60B2</Index>
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<DataType>INT16</DataType>
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<DataType>UINT32</DataType>
</Entry>
<Entry Name="Target joint torque">
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<DataType>INT32</DataType>
</Entry>
</RxPdo>
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</Entry>
</RxPdo>
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<Entry Name="User MOSI">
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<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
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<SubIndex>0</SubIndex>
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<DataType>INT32</DataType>
</Entry>
</RxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 1">
<Index>#x1A00</Index>
<Entry Name="Statusword">
<Link Index="5" Simulation="false">root/DriveLogic/driveStatusWord</Link>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Modes of operation display">
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<DataType>INT8</DataType>
</Entry>
<Entry Name="Position actual value">
<Link Index="0" Simulation="false">root/Control/actuatorControlLoops/actuatorControlLoop06/actualMotorPositionIn</Link>
<Link Index="5" Simulation="true">root/Simulator/positionValue</Link>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity actual value">
<Index>#x606C</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 2">
<Index>#x1A01</Index>
<Entry Name="Analog input 1">
<Index>#x2401</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 2">
<Index>#x2402</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Analog input 3">
<Index>#x2403</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Analog input 4">
<Index>#x2404</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>UINT16</DataType>
</Entry>
<Entry Name="Tuning status">
<Index>#x2702</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Secondary position value">
<Index>#x230A</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Secondary velocity value">
<Index>#x230B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="Inputs">
<Index>#x1A02</Index>
<Entry Name="Torque actual">
<Index>#x6077</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Temperature">
<Index>#x2301</Index>
<SubIndex>1</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="3" Fixed="false" Mandatory="false" Group="TxPDO Mapping 4">
<Index>#x1A03</Index>
<Entry Name="User MISO">
<Index>#x2704</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Timestamp">
<Index>#x20F0</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>UINT32</DataType>
</Entry>
<Entry Name="Position demand internal value">
<Index>#x60FC</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Velocity demand value">
<Index>#x606B</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque demand">
<Index>#x6074</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<DataType>INT16</DataType>
</Entry>
<Entry Name="Encoder 1 position">
<Index>#x2111</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
<Entry Name="Encoder 2 position">
<Index>#x2113</Index>
<SubIndex>2</SubIndex>
<BitLen>32</BitLen>
<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
</Domain>
</FieldBus>
</FieldBusList>
</Motorcortex>

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