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xcore通信完成

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gitea
2025-01-08 21:28:52 +08:00
parent ca4fa4980a
commit 73fa811e57
7 changed files with 4219 additions and 72 deletions
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592
assets/files/projects/registers.json Normal file
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@ -0,0 +1,592 @@
{
"MODBUS": [
{
"property": {
"device_name": "autotest",
"endian": 1
},
"regs": {
"rd": [
{
"addr": 40000,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_clear_alarm",
"len": 1,
"name": "r_clear_alarm",
"retain": false,
"type": "bool"
},
{
"addr": 40001,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset",
"len": 1,
"name": "r_estop_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40002,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_estop_reset_clear_alarm",
"len": 1,
"name": "r_onekey_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40003,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_off",
"len": 1,
"name": "r_motor_off",
"retain": false,
"type": "bool"
},
{
"addr": 40004,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motor_on",
"len": 1,
"name": "r_motor_on",
"retain": false,
"type": "bool"
},
{
"addr": 40005,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_pptomain_start",
"len": 1,
"name": "r_onekey_start",
"retain": false,
"type": "bool"
},
{
"addr": 40006,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_motoron_start",
"len": 1,
"name": "r_motoron_start",
"retain": false,
"type": "bool"
},
{
"addr": 40007,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pause_motoroff",
"len": 1,
"name": "r_pause_motoroff",
"retain": false,
"type": "bool"
},
{
"addr": 40008,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_pptomain",
"len": 1,
"name": "r_pp2main",
"retain": false,
"type": "bool"
},
{
"addr": 40009,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_start",
"len": 1,
"name": "r_prog_start",
"retain": false,
"type": "bool"
},
{
"addr": 40010,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_program_stop",
"len": 1,
"name": "r_prog_stop",
"retain": false,
"type": "bool"
},
{
"addr": 40011,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_reduced_mode",
"len": 1,
"name": "r_reduced_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40012,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_soft_estop",
"len": 1,
"name": "r_soft_estop",
"retain": false,
"type": "bool"
},
{
"addr": 40013,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_auto_motoron",
"len": 1,
"name": "r_auto_motoron",
"retain": false,
"type": "bool"
},
{
"addr": 40014,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_auto",
"len": 1,
"name": "r_switch_auto",
"retain": false,
"type": "bool"
},
{
"addr": 40015,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "ctrl_switch_operation_manu",
"len": 1,
"name": "r_switch_manual",
"retain": false,
"type": "bool"
},
{
"addr": 40016,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region01",
"len": 1,
"name": "r_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40017,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region02",
"len": 1,
"name": "r_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40018,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "enable_safe_region03",
"len": 1,
"name": "r_safe_region03",
"retain": false,
"type": "bool"
},
{
"addr": 40100,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_0",
"retain": false,
"type": "bool"
},
{
"addr": 40101,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_1",
"retain": false,
"type": "bool"
},
{
"addr": 40102,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_2",
"retain": false,
"type": "bool"
},
{
"addr": 40103,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_3",
"retain": false,
"type": "bool"
},
{
"addr": 40104,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_4",
"retain": false,
"type": "bool"
},
{
"addr": 40105,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_5",
"retain": false,
"type": "bool"
},
{
"addr": 40106,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_6",
"retain": false,
"type": "bool"
},
{
"addr": 40107,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_7",
"retain": false,
"type": "bool"
},
{
"addr": 40108,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_8",
"retain": false,
"type": "bool"
},
{
"addr": 40109,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "",
"len": 1,
"name": "signal_9",
"retain": false,
"type": "bool"
}
],
"rdwr": [
{
"addr": 40500,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_alarm",
"len": 1,
"name": "w_alarm_state",
"retain": false,
"type": "bool"
},
{
"addr": 40501,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision",
"len": 1,
"name": "w_clsn_alarm_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40502,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_collision_open",
"len": 1,
"name": "w_clsn_open_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40503,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_controller_is_running",
"len": 1,
"name": "w_controller_running",
"retain": false,
"type": "bool"
},
{
"addr": 40504,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_encoder_low_battery",
"len": 1,
"name": "w_encoder_low",
"retain": false,
"type": "bool"
},
{
"addr": 40505,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_estop",
"len": 1,
"name": "w_estop_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40506,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_motor",
"len": 1,
"name": "w_motor_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40507,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_operation_mode",
"len": 1,
"name": "w_operation_mode",
"retain": false,
"type": "bool"
},
{
"addr": 40508,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program",
"len": 1,
"name": "w_prog_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40509,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_not_run",
"len": 1,
"name": "w_prog_not_run",
"retain": false,
"type": "bool"
},
{
"addr": 40510,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_program_reset",
"len": 1,
"name": "w_prog_reset",
"retain": false,
"type": "bool"
},
{
"addr": 40511,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_reduced_mode",
"len": 1,
"name": "w_reduced_mode_stat",
"retain": false,
"type": "bool"
},
{
"addr": 40512,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_is_busy",
"len": 1,
"name": "w_robot_is_busy",
"retain": false,
"type": "bool"
},
{
"addr": 40513,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_robot_moving",
"len": 1,
"name": "w_robot_moving",
"retain": false,
"type": "bool"
},
{
"addr": 40514,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_door",
"len": 1,
"name": "w_safe_door",
"retain": false,
"type": "bool"
},
{
"addr": 40515,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region01",
"len": 1,
"name": "w_safe_region01",
"retain": false,
"type": "bool"
},
{
"addr": 40516,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region02",
"len": 1,
"name": "w_safe_region02",
"retain": false,
"type": "bool"
},
{
"addr": 40517,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_safe_region03",
"len": 1,
"name": "w_safe_region03",
"retain": false,
"type": "bool"
},
{
"addr": 40518,
"addr_1st": 0,
"addr_2nd": 0,
"bit_bias": 0,
"byte_bias": 0,
"function": "sta_soft_estop",
"len": 1,
"name": "w_soft_estop_stat",
"retain": false,
"type": "bool"
}
]
}
}
]
}

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assets/files/projects/registers.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<m>
<l>
<c name="addr" type="2" value="40000"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40000"/>
<c name="function" type="10" value="ctrl_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_clear_alarm"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40001"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40001"/>
<c name="function" type="10" value="ctrl_estop_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_estop_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40002"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40002"/>
<c name="function" type="10" value="ctrl_estop_reset_clear_alarm"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40003"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40003"/>
<c name="function" type="10" value="ctrl_motor_off"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_off"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40004"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40004"/>
<c name="function" type="10" value="ctrl_motor_on"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motor_on"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40005"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40005"/>
<c name="function" type="10" value="ctrl_motoron_pptomain_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_onekey_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40006"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40006"/>
<c name="function" type="10" value="ctrl_motoron_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_motoron_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40007"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40007"/>
<c name="function" type="10" value="ctrl_pause_motoroff"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_pause_motoroff"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40008"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40008"/>
<c name="function" type="10" value="ctrl_pptomain"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_pp2main"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40009"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40009"/>
<c name="function" type="10" value="ctrl_program_start"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="r_prog_start"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rd"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40010"/>
<c name="addr_1st" type="2" value="0"/>
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<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40508"/>
<c name="function" type="10" value="sta_program"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_prog_stat"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40509"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40509"/>
<c name="function" type="10" value="sta_program_not_run"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_prog_not_run"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40510"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40510"/>
<c name="function" type="10" value="sta_program_reset"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_prog_reset"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40511"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40511"/>
<c name="function" type="10" value="sta_reduced_mode"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_reduced_mode_stat"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40512"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40512"/>
<c name="function" type="10" value="sta_robot_is_busy"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_robot_is_busy"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40513"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40513"/>
<c name="function" type="10" value="sta_robot_moving"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_robot_moving"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40514"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40514"/>
<c name="function" type="10" value="sta_safe_door"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_door"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40515"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40515"/>
<c name="function" type="10" value="sta_safe_region01"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region01"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40516"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40516"/>
<c name="function" type="10" value="sta_safe_region02"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region02"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40517"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40517"/>
<c name="function" type="10" value="sta_safe_region03"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_safe_region03"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
<l>
<c name="addr" type="2" value="40518"/>
<c name="addr_1st" type="2" value="0"/>
<c name="addr_2nd" type="2" value="0"/>
<c name="bit_bias" type="2" value="0"/>
<c name="byte_bias" type="4" value="0"/>
<c name="description" type="10" value=""/>
<c name="dev_name" type="10" value="autotest"/>
<c name="dev_type" type="10" value="MODBUS"/>
<c name="end_addr" type="2" value="40518"/>
<c name="function" type="10" value="sta_soft_estop"/>
<c name="len" type="2" value="1"/>
<c name="name" type="10" value="w_soft_estop_stat"/>
<c name="retain" type="1" value="false"/>
<c name="rw" type="10" value="rdwr"/>
<c name="type" type="10" value="bool"/>
<c name="value"/>
<c name="value_single" type="10" value=""/>
</l>
</m>