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32 + + 64000000 + + + rw + o + R + + + + #x608F + Position encoder resolution + DT608F + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 00000000 + Encoder increments + + + + SubIndex 002 + + 01000000 + Motor revolutions + + + + + ro + o + + + + #x6090 + Velocity encoder resolution + DT6090 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 00000000 + Encoder increments per second + + + + SubIndex 002 + + 01000000 + Motor revolutions per second + + + + + ro + o + + + + #x6091 + Gear ratio + DT6091 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 01000000 + Motor revolutions + + + + SubIndex 002 + + 01000000 + Shaft revolutions + + + + + ro + o + + + + #x6092 + Feed constant + DT6092 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 01000000 + Feed + + + + SubIndex 002 + + 01000000 + Shaft revolutions + + + + + ro + o + + + + #x6096 + Velocity factor + DT6096 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 01000000 + Numerator + + + + SubIndex 002 + + 01000000 + Divisor + + + + + ro + o + + + + #x6097 + Acceleration factor + DT6097 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 01000000 + Numerator + + + + SubIndex 002 + + 01000000 + Divisor + + + + + ro + o + + + + #x6098 + Homing method + SINT + 8 + + 23 + + + rw + o + R + + + + #x6099 + Homing speed + DT6099 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 32000000 + Speed during search for switch + + + + SubIndex 002 + + 0A000000 + Speed during search for zero + + + + + ro + o + + + + #x609A + Homing acceleration + UDINT + 32 + + F4010000 + + + rw + o + R + + + + #x60A2 + Jerk factor + DT60A2 + 80 + + + SubIndex 000 + + 02 + Number of entries + + + + SubIndex 001 + + 01000000 + Numerator + + + + SubIndex 002 + + 01000000 + Divisor + + + + + ro + o + + + + #x60A4 + Profile Jerk + DT60A4 + 144 + + + SubIndex 000 + + 04 + Number of entries + + + + SubIndex 001 + + E8030000 + Begin Acceleration Jerk + + + + SubIndex 002 + + E8030000 + Begin Deceleration Jerk + + + + SubIndex 003 + + E8030000 + End Acceleration Jerk + + + + SubIndex 004 + + E8030000 + End Deceleration Jerk + + + + + ro + o + + + + #x60A8 + SI unit position + UDINT + 32 + + 000041FF + + + rw + o + + + + #x60A9 + SI unit velocity + UDINT + 32 + + 0047B400 + + + rw + o + + + + #x60B0 + Position offset + DINT + 32 + + 00000000 + + + rw + o + R + + + + #x60B1 + Velocity offset + DINT + 32 + + 00000000 + + + rw + o + R + + + + #x60B2 + Torque offset + INT + 16 + + 0000 + + + rw + o + R + + + + #x60C1 + Interpolation data record + DT60C1 + 48 + + + SubIndex 000 + + 01 + Number of entries + + + + SubIndex 001 + + 00000000 + 1st set-point + + + + + ro + o + + + + #x60C2 + Interpolation time period + DT0080 + 32 + + + Number of entries + + 02 + + + + Interpolation time period value + + 01 + + + + Interpolation time index + + FD + + + + + ro + o + + + + #x60C4 + Interpolation data configuration + DT0081 + 120 + + + Number of entries + + 06 + + + + MaximumBufferSize + + 01000000 + + + + ActualBufferSize + + 01000000 + + + + BufferOrganization + + 00 + + + + BufferPosition + + 0100 + + + + SizeOfDataRecord + + 04 + + + + BufferClear + + 00 + + + + + ro + o + + + + #x60C5 + Max acceleration + UDINT + 32 + + 88130000 + + + rw + o + R + + + + #x60C6 + Max deceleration + UDINT + 32 + + 88130000 + + + rw + o + R + + + + #x60E4 + Additional position actual value + DT60E4 + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 00000000 + Additional position actual value #1 + + + + SubIndex 002 + + 00000000 + Additional position actual value #2 + + + + SubIndex 003 + + 00000000 + Additional position actual value #3 + + + + + ro + o + + + + #x60E5 + Additional velocity actual value + DT60E5 + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 00000000 + Additional velocity actual value #1 + + + + SubIndex 002 + + 00000000 + Additional velocity actual value #2 + + + + SubIndex 003 + + 00000000 + Additional velocity actual value #3 + + + + + ro + o + + + + #x60E6 + Additional position encoder resolution - encoder increments + DT60E6 + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 00000000 + Additional position encoder resolution - encoder increments feedback interface #1 + + + + SubIndex 002 + + 00000000 + Additional position encoder resolution - encoder increments feedback interface #2 + + + + SubIndex 003 + + 00000000 + Additional position encoder resolution - encoder increments feedback interface #3 + + + + + ro + o + + + + #x60E8 + Additional gear ratio - motor shaft revolutions + DT60E8 + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 01000000 + Additional gear ratio - motor shaft revolutions feedback interface #1 + + + + SubIndex 002 + + 01000000 + Additional gear ratio - motor shaft revolutions feedback interface #2 + + + + SubIndex 003 + + 01000000 + Additional gear ratio - motor shaft revolutions feedback interface #3 + + + + + ro + o + + + + #x60E9 + Additional feed constant - feed + DT60E9 + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 01000000 + Additional feed constant - feed feedback interface #1 + + + + SubIndex 002 + + 01000000 + Additional feed constant - feed feedback interface #2 + + + + SubIndex 003 + + 01000000 + Additional feed constant - feed feedback interface #3 + + + + + ro + o + + + + #x60EB + Additional position encoder resolution - motor revolutions + DT60EB + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 01000000 + Additional position encoder resolution - motor revolutions feedback interface #1 + + + + SubIndex 002 + + 01000000 + Additional position encoder resolution - motor revolutions feedback interface #2 + + + + SubIndex 003 + + 01000000 + Additional position encoder resolution - motor revolutions feedback interface #3 + + + + + ro + o + + + + #x60ED + Additional gear ratio - driving shaft revolutions + DT60ED + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 01000000 + Additional gear ratio - driving shaft revolutions feedback interface #1 + + + + SubIndex 002 + + 01000000 + Additional gear ratio - driving shaft revolutions feedback interface #2 + + + + SubIndex 003 + + 01000000 + Additional gear ratio - driving shaft revolutions feedback interface #3 + + + + + ro + o + + + + #x60EE + Additional feed constant - driving shaft revolutions + DT60EE + 112 + + + SubIndex 000 + + 03 + Number of entries + + + + SubIndex 001 + + 01000000 + Additional feed constant - driving shaft revolutions feedback interface #1 + + + + SubIndex 002 + + 01000000 + Additional feed constant - driving shaft revolutions feedback interface #2 + + + + SubIndex 003 + + 01000000 + Additional feed constant - driving shaft revolutions feedback interface #3 + + + + + ro + o + + + + #x60F2 + Positioning option code + UINT + 16 + + 0100 + + + rw + o + R + + + + #x60F4 + Following error actual value + DINT + 32 + + 00000000 + + + ro + o + T + + + + #x60F8 + Max slippage + DINT + 32 + + 90010000 + + + rw + o + R + + + + #x60FA + Control Effort + DINT + 32 + + 00000000 + + + ro + o + T + + + + #x60FC + Position demand internal value + DINT + 32 + + 00000000 + + + ro + o + T + + + + #x60FD + Digital Inputs + UDINT + 32 + + 00000000 + + + ro + o + T + + + + #x60FE + Digital Outputs + DT60FE + 48 + + + SubIndex 000 + + 01 + Number of entries + + + + SubIndex 001 + + 01000000 + Physical outputs + + + + + ro + o + + + + #x60FF + Target velocity + DINT + 32 + + 00000000 + + + rw + o + R + + + + #x6502 + Supported drive modes + UDINT + 32 + + EF030000 + + + ro + o + T + + + + #x6503 + Drive catalogue number + STRING(0) + 0 + + ro + o + + + + #x6505 + http drive catalogue address + STRING(0) + 0 + + ro + o + + + + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + Drives + + #x1600 + Receive PDO 1 Mapping Parameter + + #x6040 + 0 + 16 + Controlword + UINT + + + #x6060 + 0 + 8 + Modes of operation + SINT + + + + #x1601 + Receive PDO 2 Mapping Parameter + + #x607A + 0 + 32 + Target Position + DINT + + + #x6081 + 0 + 32 + Profile velocity + UDINT + + + + #x1602 + Receive PDO 3 Mapping Parameter + + #x6042 + 0 + 16 + vl target velocity + INT + + + + #x1603 + Receive PDO 4 Mapping Parameter + + #x60FE + 1 + 32 + Digital Outputs + UDINT + + + + #x1A00 + Transmit PDO 1 Mapping Parameter + + #x6041 + 0 + 16 + Statusword + UINT + + + #x6061 + 0 + 8 + Modes of operation display + SINT + + + + #x1A01 + Transmit PDO 2 Mapping Parameter + + #x6064 + 0 + 32 + Position actual value + DINT + + + + #x1A02 + Transmit PDO 3 Mapping Parameter + + #x6044 + 0 + 16 + vl velocity actual value + INT + + + + #x1A03 + Transmit PDO 4 Mapping Parameter + + #x60FD + 0 + 32 + Digital Inputs + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC with SYNC0=1ms + #x0330 + 1000000 + 250000 + 0 + 0 + + + + 16384 + 05060B0E64000000 + 0010800080108000 + + 424DE6000000000000007600000028000000100000000E000000010004000000000070000000232E0000232E00001000000010000000C27E4600F6ECE300E9CFBB00DFBC9F00D6A88200C98C5A00F3E5DA00FFFEFE00E6C9B200CD946500C6875300DAB08E00D3A17800EEDACA00C4824C00FAF3EE007777777F1F77777777776873AEB67777777D5CF6890527777719EB73425E5677773EEB73EB2EEB77775AE37BA584E577770A0274AA42A0F7770AAD79AA98C0F7779A9675AAA8B5777730B765AAE8337777FBD73AA5B6DF777777769AA52777777777789EE92777777777777777777777 + + + + diff --git a/tests/parse-xml.rs b/tests/parse-xml.rs index e4913a7..55ab51b 100644 --- a/tests/parse-xml.rs +++ b/tests/parse-xml.rs @@ -1,12 +1,11 @@ +use std::fs; + use ethercat_esi::EtherCatInfo; use ethercat_types as ec; -use std::{fs::File, io::prelude::*}; #[test] fn parse_xml_crated_by_weidmueller() { - let mut file = File::open("tests/fixtures/Weidmueller_UR20_FBC.xml").unwrap(); - let mut xml_string = String::new(); - file.read_to_string(&mut xml_string).unwrap(); + let xml_string = fs::read_to_string("tests/fixtures/Weidmueller_UR20_FBC.xml").unwrap(); let esi = EtherCatInfo::from_xml_str(&xml_string).unwrap(); assert_eq!(esi.vendor.id, 0x0000_0230); assert_eq!(esi.description.devices.len(), 2); @@ -31,9 +30,7 @@ fn parse_xml_crated_by_weidmueller() { #[test] fn parse_xml_crated_by_weidmueller_module_information() { - let mut file = File::open("tests/fixtures/Weidmueller_UR20_IO.xml").unwrap(); - let mut xml_string = String::new(); - file.read_to_string(&mut xml_string).unwrap(); + let xml_string = fs::read_to_string("tests/fixtures/Weidmueller_UR20_IO.xml").unwrap(); let esi = EtherCatInfo::from_xml_str(&xml_string).unwrap(); assert_eq!(esi.vendor.id, 0x0000_0230); assert_eq!(esi.description.modules.len(), 82); @@ -43,9 +40,7 @@ fn parse_xml_crated_by_weidmueller_module_information() { #[test] fn parse_xml_crated_by_beckhoff() { - let mut file = File::open("tests/fixtures/Beckhoff_EK11xx.xml").unwrap(); - let mut xml_string = String::new(); - file.read_to_string(&mut xml_string).unwrap(); + let xml_string = fs::read_to_string("tests/fixtures/Beckhoff_EK11xx.xml").unwrap(); let esi = EtherCatInfo::from_xml_str(&xml_string).unwrap(); assert_eq!(esi.vendor.id, 2); assert_eq!(esi.description.devices.len(), 24); @@ -54,9 +49,15 @@ fn parse_xml_crated_by_beckhoff() { #[test] fn parse_xml_crated_by_igh() { // Parse file that was crated by `/opt/etherlab/bin/ethercat xml` - let mut file = File::open("tests/fixtures/Weidmueller_UR20_FBC_from_IgH.xml").unwrap(); - let mut xml_string = String::new(); - file.read_to_string(&mut xml_string).unwrap(); + let xml_string = + fs::read_to_string("tests/fixtures/Weidmueller_UR20_FBC_from_IgH.xml").unwrap(); let esi = EtherCatInfo::from_xml_str(&xml_string).unwrap(); assert_eq!(esi.vendor.id, 0x230); } + +#[test] +#[ignore] +fn parse_xml_crated_by_nanotec_electronic() { + let xml_string = fs::read_to_string("tests/fixtures/C5-E-2-21.xml").unwrap(); + EtherCatInfo::from_xml_str(&xml_string).unwrap(); +}