SM3RaspiStepper

<?xml version="1.0" encoding="utf-8"?>

<!DOCTYPE DeviceDescription [

<!ENTITY standardparameters SYSTEM "StandardParameters.xml">

]>

<!-- edited with XMLSPY v2004 rel. 4 U (http://www.xmlspy.com) by Hilmar Panzer (3S - Smart Software Solutions GmbH) -->

<DeviceDescription xmlns="http://www.3s-software.com/schemas/DeviceDescription-1.0.xsd" xmlns:ts="http://www.3s-software.com/schemas/TargetSettings-0.1.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.3s-software.com/schemas/DeviceDescription-1.0.xsd D:\CoDeSys\Documentation\DOCUME~2.)\PRODUC~1\CODESY~1.0\DEVELO~1\FEATUR~1\DeviceDescription-1.0.xsd">

    <Types namespace="localTypes"></Types>

    <Strings namespace="localStrings">

    </Strings>

    <Files namespace="local">

        <Language lang="en">

            <File fileref="local" identifier="DriveIcon">

                <LocalFile>SoftMotion_Raspi_Stepper.ico</LocalFile>

            </File>

        </Language>

    </Files>

    <Device>

        <DeviceIdentification>

            <Type>1025</Type>

            <Id>FFFF 0001</Id>

            <Version>0.0.0.5</Version>

        </DeviceIdentification>

        <CompatibleVersions>

        </CompatibleVersions>

        <DeviceInfo>

            <Name name="localStrings:TypeName">SM_Drive_RaspiStepper_Direct</Name>

            <Description name="localStrings:TypeDescription">SoftMotion axis for direct stepper control on Raspberry Pi GPIOs directly (powered by a L298N or similar) switching the motor coils</Description>

            <Vendor name="localStrings:_3S">3S - Smart Software Solutions GmbH</Vendor>

            <OrderNumber>1805</OrderNumber>

            <Icon name="local:DriveIcon">SoftMotion_Raspi_Stepper.ico</Icon>

        </DeviceInfo>

        <Connector connectorId="1" moduleType="1248" interface="Common.SoftMotion.Logical" role="parent" explicit="false" hostpath="0" initialStatusFlag="241">

            <InterfaceName name="local:InterfaceName">SM_Drive_Logical:</InterfaceName>

            <Var />

        </Connector>

        <Connector role="child" connectorId="0" interface="Common.SoftMotion.General" moduleType="1029" explicit="false">

            <InterfaceName name="localStrings:InterfaceName">SM_Drive_RaspiStepper:</InterfaceName>

            <Slot count="1" allowEmpty="false" />

            <Var />

            <HostParameterSet>

        &standardparameters;

                <ParameterSection>

                    <Name name="local:AXIS_REF">AXIS_REF: Scalings</Name>

                    <Parameter ParameterId="1051" type="std:DWORD">

                        <Attributes download="true" functional="false" />

                        <Default>1</Default>

                        <Name name="localStrings:AXIS_REF.dwRatioTechUnitsDenom">dwRatioTechUnitsDenom</Name>

                        <Description name="localStrings:AXIS_REF.dwRatioTechUnitsDenom.Desc">conversion inc./tech.units denominator</Description>

                        <Custom />

                    </Parameter>

                    <Parameter ParameterId="1052" type="std:DINT">

                        <Attributes download="true" functional="false" />

                        <Default>1</Default>

                        <Name name="localStrings:AXIS_REF.iRatioTechUnitsNum">iRatioTechUnitsNum</Name>

                        <Description name="localStrings:AXIS_REF.iRatioTechUnitsNum.Desc">conversion inc./tech.units numerator</Description>

                        <Custom />

                    </Parameter>

                    <Parameter ParameterId="5000" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingIncs">ScalingIncs</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5001" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingMotorTurns1">ScalingMotorTurns1</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5002" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingMotorTurns2">ScalingMotorTurns2</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5003" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingGearOutput1">ScalingGearOutput1</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5004" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingGearOutput2">ScalingGearOutput2</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5005" type="std:DINT">

                        <Default>1</Default>

                        <Name name="localStrings:ScalingUnits">ScalingUnits</Name>

                        <download>false</download>

                    </Parameter>

                    <Parameter ParameterId="5006" type="std:BOOL">

                        <Default>FALSE</Default>

                        <Name name="localStrings:InvertDirection">InvertDirection</Name>

                        <download>false</download>

                    </Parameter>

                </ParameterSection>

                <ParameterSection>

                    <Name name="local:AXIS_REF">AXIS_REF: Motorsettings</Name>

                    <Parameter ParameterId="10300" type="std:DWORD">

                        <Default>6</Default>

                        <Name name="localStrings:A">A</Name>

                        <Description name="localStrings:ADesc">MotorPin A</Description>

                    </Parameter>

                    <Parameter ParameterId="10301" type="std:DWORD">

                        <Default>13</Default>

                        <Name name="localStrings:A-">A-</Name>

                        <Description name="localStrings:A-Desc">MotorPin A-</Description>

                    </Parameter>

                    <Parameter ParameterId="10302" type="std:DWORD">

                        <Default>19</Default>

                        <Name name="localStrings:B">B</Name>

                        <Description name="localStrings:BDesc">MotorPin B</Description>

                    </Parameter>

                    <Parameter ParameterId="10303" type="std:DWORD">

                        <Default>26</Default>

                        <Name name="localStrings:B-">B-</Name>

                        <Description name="localStrings:B-Desc">MotorPin B-</Description>

                    </Parameter>

                    <Parameter ParameterId="10304" type="std:LREAL">

                        <Default>1.0</Default>

                        <Name name="localStrings:MotorPowerTime">MotorPowerTime</Name>

                        <Description name="localStrings:MotorPowerTimeDesc">fraction of the cycle ]0..1], where outputs are set High (determines the power of the motor)</Description>

                    </Parameter>

                    <Parameter ParameterId="10305" type="std:BOOL">

                        <Default>FALSE</Default>

                        <Name name="localStrings:HalfStep">HalfStep</Name>

                        <Description name="localStrings:HalfSetp">Motor takes half steps instead of full steps</Description>

                    </Parameter>

                    <Parameter ParameterId="10306" type="std:LREAL">

                        <Default>0</Default>

                        <Name name="localStrings:MaxFrequency">MaxFrequency</Name>

                        <Description name="localStrings:MaxFrequence-Desc">maximum frequency (steps per second) that the motor can follow. 0: not supervized</Description>

                    </Parameter>

                    <Parameter ParameterId="10307" type="std:STRING">

                        <Default>'IEC-Tasks'</Default>

                        <Name name="localStrings:TaskGroup">TaskGroup</Name>

                        <Description name="localStrings:TaskGroup-Desc">name of the task group, in which the step generation will be done (relevant only on multi core systems)</Description>

                    </Parameter>

                </ParameterSection>

            </HostParameterSet>

            <DriverInfo needsBusCycle="false">

                <RequiredLib libname="SM3_Drive_RaspiStepper" vendor="3S - Smart Software Solutions GmbH" version="0.0.0.5" identifier="deviceLib">

                    <FBInstance basename="$(DeviceName)" fbname="AXIS_REF_RASPISTEPPER" fbnamediag="AXIS_REF_RASPISTEPPER">

                        <Initialize methodName="Initialize" />

                        <CyclicCall methodname="BeforeReadInputs" task="#buscycletask" whentocall="beforeReadInputs" />

                        <CyclicCall methodname="AfterReadInputs" task="#buscycletask" whentocall="afterReadInputs" />

                        <CyclicCall methodname="BeforeWriteOutputs" task="#buscycletask" whentocall="beforeWriteOutputs" />

                        <CyclicCall methodname="AfterWriteOutputs" task="#buscycletask" whentocall="afterWriteOutputs" />

                    </FBInstance>

                </RequiredLib>

            </DriverInfo>

        </Connector>

    </Device>

</DeviceDescription>