自动化测试的功能迁移完毕，待测试
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@ -18,6 +18,7 @@
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<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40001"/>
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||||
@ -37,6 +38,7 @@
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||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40002"/>
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||||
@ -56,6 +58,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40003"/>
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||||
@ -75,6 +78,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40004"/>
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||||
@ -94,6 +98,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40005"/>
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||||
@ -113,6 +118,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40006"/>
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||||
@ -132,6 +138,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40007"/>
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||||
@ -151,6 +158,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40008"/>
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||||
@ -170,6 +178,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40009"/>
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||||
@ -189,6 +198,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40010"/>
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||||
@ -208,6 +218,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40011"/>
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||||
@ -227,6 +238,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40012"/>
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||||
@ -246,6 +258,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40013"/>
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||||
@ -265,6 +278,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40014"/>
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||||
@ -284,6 +298,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40015"/>
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@ -303,6 +318,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40016"/>
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@ -322,6 +338,7 @@
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40017"/>
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@ -341,6 +358,7 @@
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<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40018"/>
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@ -360,6 +378,7 @@
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<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40100"/>
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||||
@ -367,18 +386,19 @@
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||||
<c name="addr_2nd" type="2" value="0"/>
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||||
<c name="bit_bias" type="2" value="0"/>
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||||
<c name="byte_bias" type="4" value="0"/>
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||||
<c name="description" type="10" value=""/>
|
||||
<c name="description" type="10" value="pc to robot，告诉 xCore 可以开始运行了"/>
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||||
<c name="dev_name" type="10" value="autotest"/>
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||||
<c name="dev_type" type="10" value="MODBUS"/>
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||||
<c name="end_addr" type="2" value="40100"/>
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||||
<c name="function" type="10" value=""/>
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||||
<c name="len" type="2" value="1"/>
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||||
<c name="name" type="10" value="signal_0"/>
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||||
<c name="name" type="10" value="act"/>
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||||
<c name="retain" type="1" value="false"/>
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||||
<c name="rw" type="10" value="rd"/>
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40101"/>
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||||
@ -386,18 +406,19 @@
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||||
<c name="addr_2nd" type="2" value="0"/>
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||||
<c name="bit_bias" type="2" value="0"/>
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||||
<c name="byte_bias" type="4" value="0"/>
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||||
<c name="description" type="10" value=""/>
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||||
<c name="description" type="10" value="pc to robot，急停开始标志"/>
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||||
<c name="dev_name" type="10" value="autotest"/>
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||||
<c name="dev_type" type="10" value="MODBUS"/>
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||||
<c name="end_addr" type="2" value="40101"/>
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||||
<c name="function" type="10" value=""/>
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||||
<c name="len" type="2" value="1"/>
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||||
<c name="name" type="10" value="signal_1"/>
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||||
<c name="name" type="10" value="probe"/>
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||||
<c name="retain" type="1" value="false"/>
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||||
<c name="rw" type="10" value="rd"/>
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40102"/>
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||||
@ -405,18 +426,19 @@
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||||
<c name="addr_2nd" type="2" value="0"/>
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||||
<c name="bit_bias" type="2" value="0"/>
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||||
<c name="byte_bias" type="4" value="0"/>
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||||
<c name="description" type="10" value=""/>
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||||
<c name="description" type="10" value="pc to robot，指示正负方向拍急停，positive or negtive"/>
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||||
<c name="dev_name" type="10" value="autotest"/>
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||||
<c name="dev_type" type="10" value="MODBUS"/>
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||||
<c name="end_addr" type="2" value="40102"/>
|
||||
<c name="function" type="10" value=""/>
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||||
<c name="len" type="2" value="1"/>
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||||
<c name="name" type="10" value="signal_2"/>
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||||
<c name="name" type="10" value="pon"/>
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||||
<c name="retain" type="1" value="false"/>
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||||
<c name="rw" type="10" value="rd"/>
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40103"/>
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||||
@ -424,37 +446,19 @@
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||||
<c name="addr_2nd" type="2" value="0"/>
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||||
<c name="bit_bias" type="2" value="0"/>
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||||
<c name="byte_bias" type="4" value="0"/>
|
||||
<c name="description" type="10" value=""/>
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||||
<c name="dev_name" type="10" value="autotest"/>
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||||
<c name="dev_type" type="10" value="MODBUS"/>
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||||
<c name="end_addr" type="2" value="40103"/>
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||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
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||||
<c name="name" type="10" value="signal_3"/>
|
||||
<c name="retain" type="1" value="false"/>
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||||
<c name="rw" type="10" value="rd"/>
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||||
<c name="type" type="10" value="bool"/>
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||||
<c name="value"/>
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||||
<c name="value_single" type="10" value=""/>
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||||
</l>
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||||
<l>
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||||
<c name="addr" type="2" value="40104"/>
|
||||
<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="description" type="10" value="pc to robot，轴的位置"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40104"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_4"/>
|
||||
<c name="name" type="10" value="axis"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="type" type="10" value="int32"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
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||||
</l>
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||||
<l>
|
||||
<c name="addr" type="2" value="40105"/>
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||||
@ -462,94 +466,19 @@
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||||
<c name="addr_2nd" type="2" value="0"/>
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||||
<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="40105"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_5"/>
|
||||
<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="40106"/>
|
||||
<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="description" type="10" value="pc to robot，指定工况下的速度最大值"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40106"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_6"/>
|
||||
<c name="name" type="10" value="speed_max"/>
|
||||
<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="40107"/>
|
||||
<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="40107"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_7"/>
|
||||
<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="40108"/>
|
||||
<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="40108"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_8"/>
|
||||
<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="40109"/>
|
||||
<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="40109"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="signal_9"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rd"/>
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="type" type="10" value="float"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40500"/>
|
||||
@ -569,6 +498,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40501"/>
|
||||
@ -588,6 +518,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40502"/>
|
||||
@ -607,6 +538,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40503"/>
|
||||
@ -626,6 +558,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40504"/>
|
||||
@ -645,6 +578,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40505"/>
|
||||
@ -664,6 +598,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40506"/>
|
||||
@ -683,6 +618,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40507"/>
|
||||
@ -702,6 +638,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40508"/>
|
||||
@ -721,6 +658,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40509"/>
|
||||
@ -740,6 +678,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40510"/>
|
||||
@ -759,6 +698,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40511"/>
|
||||
@ -778,6 +718,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40512"/>
|
||||
@ -797,6 +738,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40513"/>
|
||||
@ -816,6 +758,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40514"/>
|
||||
@ -835,6 +778,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40515"/>
|
||||
@ -854,6 +798,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40516"/>
|
||||
@ -873,6 +818,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40517"/>
|
||||
@ -892,6 +838,7 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40518"/>
|
||||
@ -911,5 +858,94 @@
|
||||
<c name="type" type="10" value="bool"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40519"/>
|
||||
<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="40532"/>
|
||||
<c name="function" type="10" value="sta_jnt_vel"/>
|
||||
<c name="len" type="2" value="7"/>
|
||||
<c name="name" type="10" value="w_jnt_vel"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="float"/>
|
||||
<c name="value">
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
<l type="10" value=""/>
|
||||
</c>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40600"/>
|
||||
<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="robot to pc，表示 xCore 已经准备好开始运动了"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40600"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="ready_to_go"/>
|
||||
<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=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40601"/>
|
||||
<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="robot to pc，场景时间"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40602"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="scenario_time"/>
|
||||
<c name="retain" type="1" value="false"/>
|
||||
<c name="rw" type="10" value="rdwr"/>
|
||||
<c name="type" type="10" value="float"/>
|
||||
<c name="value"/>
|
||||
<c name="value_single" type="10" value=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
<l>
|
||||
<c name="addr" type="2" value="40603"/>
|
||||
<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="robot to pc，表示已触发急停标志"/>
|
||||
<c name="dev_name" type="10" value="autotest"/>
|
||||
<c name="dev_type" type="10" value="MODBUS"/>
|
||||
<c name="end_addr" type="2" value="40603"/>
|
||||
<c name="function" type="10" value=""/>
|
||||
<c name="len" type="2" value="1"/>
|
||||
<c name="name" type="10" value="brake_done"/>
|
||||
<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=""/>
|
||||
<c name="bias" type="2" value="0"/>
|
||||
</l>
|
||||
</m>
|
||||
Binary file not shown.
@ -1,592 +0,0 @@
|
||||
{
|
||||
"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"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user