KUKA机器人KR C4 GSD等设备描述文件

<?xml version="1.0" encoding="ISO-8859-1"?> <?xml-stylesheet type='text/xsl' href='ethercat.xsl'?> <EtherCATInfo xsi:noNamespaceSchemaLocation = "beckhoff_schema\EtherCATInfo.xsd" Version = "1.2" xmlns:xsi = "http://www.w3.org/2001/XMLSchema-instance"> <!-- v18 --> <Vendor> <Id>24776</Id> <Name>KUKA Roboter GmbH</Name> <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000001C120800244AA500203262002462EE001C273F00245AD500243A7C001C222B001C1A1E002472FC00244FB7001C2A4D00243A7100246AFC0024428D001C1A1300DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD9DD0D0DD0DD0D0D0D090D0D0D0D0D090D0D0D0D0D0D0D0D0D0D00DD0D0D00DD000D00DD0D0D00DD0D0D0D0D0D0D090D090D0D0D0D0D0D0D0009DDDDDDDD9D999DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD</ImageData16x14> </Vendor> <Descriptions> <Groups> <Group> <Type>MAX sr</Type> <Name LcId = "1031">KUKA Multiachs-Modul sr (MAX sr)</Name> <Name LcId = "1033">KUKA Multiaxis-Module sr (MAX sr)</Name> <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000001C120800244AA500203262002462EE001C273F00245AD500243A7C001C222B001C1A1E002472FC00244FB7001C2A4D00243A7100246AFC0024428D001C1A1300DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD9DD0D0DD0DD0D0D0D090D0D0D0D0D090D0D0D0D0D0D0D0D0D0D00DD0D0D00DD000D00DD0D0D00DD0D0D0D0D0D0D090D090D0D0D0D0D0D0D0009DDDDDDDD9D999DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDD</ImageData16x14> </Group> </Groups> <Devices> <Device Physics = "YY"> <Type ProductCode = "#x003D" RevisionNo = "#x0000">KPP sr</Type> <Name LcId = "1033">KUKA Power Pack sr (KPP011 sr)</Name> <Name LcId = "1031">KUKA Power Pack sr (KPP011 sr)</Name> <Info> <Mailbox> <Timeout> <RequestTimeout>100</RequestTimeout> <ResponseTimeout>2000</ResponseTimeout> </Timeout> </Mailbox> </Info> <GroupType>MAX sr</GroupType> <Profile> <Dictionary> <DataTypes> <DataType> <Name>BOOL</Name> <BitSize>1</BitSize> </DataType> <DataType> <Name>SINT</Name> <BitSize>8</BitSize> </DataType> <DataType> <Name>INT</Name> <BitSize>16</BitSize> </DataType> <DataType> <Name>DINT</Name> <BitSize>32</BitSize> </DataType> <DataType> <Name>USINT</Name> <BitSize>8</BitSize> </DataType> <DataType> <Name>UINT</Name> <BitSize>16</BitSize> </DataType> <DataType> <Name>UDINT</Name> <BitSize>32</BitSize> </DataType> <DataType> <Name>STRING(50)</Name> <BitSize>400</BitSize> </DataType> <DataType> <Name>DT1018</Name> <BitSize>144</BitSize> <SubItem> <SubIdx>0</SubIdx> <Name>Anzahl Eintraege</Name> <Type>USINT</Type> <BitSize>8</BitSize> <BitOffs>0</BitOffs> <Flags> <Access>ro</Access> </Flags> </SubItem> <SubItem> <SubIdx>1</SubIdx> <Name>Vendor ID</Name> <Type>UDINT</Type> <BitSize>32</BitSize> <BitOffs>16</BitOffs> <Flags> <Access>ro</Access> </Flags> </SubItem> <SubItem> <SubIdx>2</SubIdx> <Name>Product Code</Name> <Type>DT1018_2EN</Type> <BitSize>32</BitSize> <BitOffs>48</BitOffs> <Flags> <Access>ro</Access> </Flags> </SubItem> <SubItem> <SubIdx>3</SubIdx> <Name>Revision</Name> <Type>UDINT</Type> <BitSize>32</BitSize> <BitOffs>80</BitOffs> <Flags> <Access>ro</Access> </Flags> </SubItem> <SubItem> <SubIdx>4</SubIdx> <Name>Serial Number</Name> <Type>UDINT</Type> <BitSize>32</BitSize> <BitOffs>112</BitOffs> <Flags> <Access>ro</Access> </Flags> </SubItem> </DataType> <DataType> <Name>DT1018_2EN</Name> <BaseType>UDINT</BaseType> <BitSize>32</BitSize> <EnumInfo> <Text>KPP</Text> <Enum>61</Enum> </EnumInfo> <EnumInfo> <Text>KSP</Text> <Enum>60</Enum> </EnumInfo> </DataType> <DataType> <Name>DT1600</Name> <BitSize>80</BitSize> <SubItem> <SubIdx>0</SubIdx> <Name>Anzahl Eintraege</Name> <Type>USINT</Type> <BitSize>8</BitSize> <BitOffs>0</BitOffs> <Flags>