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>
<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>
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</Entry>
</TxPdo>
</Device>
<Device Alias="3" Name="Axis4" AllowOverlappingPdos="false">
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<ShiftTimeSync1>0</ShiftTimeSync1>
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<Type VendorId="#x000022d2" ProductCode="#x00000301" RevisionNo="#x0c000002">SOMANET Circulo</Type>
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<Entry Name="Torque offset">
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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>
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<DataType>INT8</DataType>
</Entry>
<Entry Name="Target Torque">
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<DataType>INT16</DataType>
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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">
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<DataType>INT16</DataType>
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<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>
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<DataType>UINT32</DataType>
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<DataType>UINT32</DataType>
</Entry>
</RxPdo>
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<DataType>UINT32</DataType>
</Entry>
<Entry Name="Velocity offset">
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<DataType>INT32</DataType>
</Entry>
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<Entry Name="Statusword">
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<DataType>UINT16</DataType>
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<Entry Name="Position actual value">
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<Entry Name="Velocity actual value">
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</TxPdo>
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<DataType>INT32</DataType>
</Entry>
</TxPdo>
</Device>
<Device Alias="5" Name="Axis6" 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"/>
<Sm Enable="true" StartAddress="#x1400" ControlByte="#x22" DefaultSize="1024"/>
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<Entry Name="Controlword">
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<DataType>UINT16</DataType>
</Entry>
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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>
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<Entry Name="Target velocity">
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<DataType>INT32</DataType>
</Entry>
<Entry Name="Torque offset">
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<DataType>INT16</DataType>
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<Entry Name="Target joint torque">
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<DataType>INT32</DataType>
</Entry>
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<Entry Name="Velocity offset">
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<DataType>INT32</DataType>
</Entry>
</RxPdo>
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<DataType>UINT16</DataType>
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</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>
