Closed klauer closed 1 year ago
It's at least technically possible - but this needs a bit of work to actually look nice and (more importantly) be useful:
(I didn't verify any details here as it's Friday at 5PM, so this could still be wrong)
I think that's less useful than the following. Let's go with this for the docs:
- Term 1 (EK1200): EK1200-5000 EtherCAT Power supply (2A E-Bus) [ID=1]
- PMPS_FFO: EL2202 2Ch. Dig. Output 24V, 0.5A [ID=2]
- Term 3 (EL6070): EL6070 1Ch. Licensing-Terminal [ID=3]
- EVR: EL1252-0050 2Ch. Fast Dig. Input 5V, 1µs, DC Latch [ID=77]
- PMPS_PRE: EL6695 EtherCAT Bridge terminal (Primary) [ID=4]
- Term 5 (EK1122): EK1122 2 port EtherCAT junction [ID=5]
- EK1100_M1K2: EK1100 EtherCAT Coupler (2A E-Bus) [ID=6]
- Term 7 (EL9410): EL9410 E-Bus Power Supplier (Diagnostics) [ID=7]
- EL7047_M1K2_Yleft: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=8]
- EL7047_M1K2_Yright: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=9]
- EL7047_M1K2_Xup: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=10]
- EL7047_M1K2_Xdwn: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=11]
- EL7047_M1K2_PitchCoarse: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=12]
- EL5042_M1K2_Yleftright: EL5042 2Ch. BiSS-C Encoder [ID=13]
- EL5042_M1K2_Xupdwn: EL5042 2Ch. BiSS-C Encoder [ID=14]
- EL5042_M1K2_Pitch: EL5042 2Ch. BiSS-C Encoder [ID=15]
- EL6001_M1K2_PitchFine: EL6001 Interface (RS232) [ID=16]
- EL3054_M1K2_FWM_PRSM: EL3054 4Ch. Ana. Input 4-20mA [ID=17]
- Term 18 (EL3202-0010): EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=18]
- Term 19 (EL3202-0010): EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=19]
- Term 20 (EL3202-0010): EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=20]
- EL1004_M1K2_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=44]
- Term 22 (EL9011): EL9011 End Terminal [ID=22]
- EK1100_ST1K2_ZOS: EK1100 EtherCAT Coupler (2A E-Bus) [ID=58]
- ST1K1-EL7041: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=59 SyncUnit="ST1K1"]
- ST1K1-EL5042: EL5042 2Ch. BiSS-C Encoder [ID=60 SyncUnit="ST1K1"]
- ST1K1-EL2008: EL2008 8Ch. Dig. Output 24V, 0.5A [ID=61 SyncUnit="ST1K1"]
- ST1K1-EL9011: EL9011 End Terminal [ID=62]
- EK1100_MR1K1: EK1100 EtherCAT Coupler (2A E-Bus) [ID=63]
- Term 64 (EL9410): EL9410 E-Bus Power Supplier (Diagnostics) [ID=64]
- EL7047_M1K1_Yup: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=65]
- EL7047_M1K1_Ydwn: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=66]
- EL7047_M1K1_Xup: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=67]
- EL7047_M1K1_Xdwn: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=68]
- EL7047_M1K1_PitchCoarse: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=69]
- EL5042_M1K1_Yupdwn: EL5042 2Ch. BiSS-C Encoder [ID=70]
- EL5042_M1K1_Xupdwn: EL5042 2Ch. BiSS-C Encoder [ID=71]
- EL5042_M1K1_Pitch: EL5042 2Ch. BiSS-C Encoder [ID=72]
- EL6001_M1K1_PitchFine: EL6001 Interface (RS232) [ID=73]
- EL3054_M1K1_FWM_PRSM: EL3054 4Ch. Ana. Input 4-20mA [ID=74]
- Term 75 (EL3202-0010): EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=75]
- Term 76 (EL3202-0010): EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=76]
- EL1004_M1K1_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=78]
- Term 101 (EL9011): EL9011 End Terminal [ID=101]
- EK1100_MR1K1_BEND: EK1100 EtherCAT Coupler (2A E-Bus) [ID=23]
- EL5042_M1K1_BEND_USDS: EL5042 2Ch. BiSS-C Encoder [ID=43]
- EL9576_M1K1_BEND_US_PWR: EL9576 Brake chopper terminal [ID=45]
- EL7041_M1K1_BEND_US: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=46]
- EL9576_M1K1_BEND_DS_PWR: EL9576 Brake chopper terminal [ID=47]
- EL7041_M1K1_BEND_DS: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=48]
- EL3202-0010_M1K1US1_M1K1US2: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=49]
- EL3202-0010_M1K1US3_M1K1DS1: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=50]
- EL3202-0010_M1K1DS2_M1K1DS3: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=51]
- EL1004_M1K1_BENDER_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=53]
- Term 54 (EL9512): EL9512 Power supply terminal 12V [ID=54]
- EL2024-0010_M1K1_BEND_LED1: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=55]
- EL2024-0010_M1K1_BEND_LED2: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=56]
- Term 161 (EL9011): EL9011 End Terminal [ID=161]
- E5 (EK1122): EK1122 2 port EtherCAT junction [ID=21]
- SL1K2-EXIT (EK1100): EK1100 EtherCAT Coupler (2A E-Bus) [ID=125]
- EL7047_SL1K2_PITCH: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=126]
- EL7047_SL1K2_VERT: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=127]
- EL7047_SL1K2_ROLL: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=128]
- EL7047_SL1K2_GAP: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=129]
- EL7047_SL1K2_YAG: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=130]
- EL5042_SL1K2_PITCH_VERT: EL5042 2Ch. BiSS-C Encoder [ID=131]
- EL5042_SL1K2_ROLL_GAP: EL5042 2Ch. BiSS-C Encoder [ID=132]
- EL5042_SL1K2_YAG: EL5042 2Ch. BiSS-C Encoder [ID=133]
- EL3201_SL1K2_1: EL3201 1Ch. Ana. Input PT100 (RTD) [ID=134]
- EL3201_SL1K2_2: EL3201 1Ch. Ana. Input PT100 (RTD) [ID=135]
- EL3201_SL1K2_3: EL3201 1Ch. Ana. Input PT100 (RTD) [ID=136]
- EL3201_SL1K2_4: EL3201 1Ch. Ana. Input PT100 (RTD) [ID=137]
- EL2004_SL1K2: EL2004 4Ch. Dig. Output 24V, 0.5A [ID=138]
- EL4004_SL1K2: EL4004 4Ch. Ana. Output 0-10V, 12bit [ID=57]
- EL9011_SL1K2: EL9011 End Terminal [ID=162]
- X1 SP1K1-MONO(EK1100): EK1100 EtherCAT Coupler (2A E-Bus) [ID=34]
- SP1K1-EL9410-E1: EL9410 E-Bus Power Supplier (Diagnostics) [ID=24]
- m_pi_m: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=25]
- g_pi_m: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=26]
- m_h_m: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=27]
- g_h_m: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=28]
- s_io_m: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=29]
- s_r: EL7047 1Ch. Stepper motor output stage (50V, 5A) [ID=30]
- m_pi_up_dwn_e: EL5042 2Ch. BiSS-C Encoder [ID=31]
- g_pi_up_dwn_e: EL5042 2Ch. BiSS-C Encoder [ID=32]
- m_h_e-g_h_e: EL5042 2Ch. BiSS-C Encoder [ID=33]
- s_io_e: EL5042 2Ch. BiSS-C Encoder [ID=35]
- EL3054_SP1K1_FWM_PRSM: EL3054 4Ch. Ana. Input 4-20mA [ID=36]
- SP1K1-EL3202-E13: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=37]
- SP1K1-EL3202-E14: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=38]
- SP1K1-EL3204-E15: EL3204 4Ch. Ana. Input PT100 (RTD) [ID=39]
- SP1K1-EL3204-E16: EL3204 4Ch. Ana. Input PT100 (RTD) [ID=40]
- SP1K1-EL1004-E17: EL1004 4Ch. Dig. Input 24V, 3ms [ID=41]
- SP1K1-EL9011: EL9011 End Terminal [ID=42]
- Box 84 (EP2338-0002): EP2338-0002 8 Ch. Dig. Input/Output 24V, 0,5A, M12 [ID=84]
- Term 79 (EK1521-0010): EK1521-0010 1 port EtherCAT junction (FX-SingleMode) [ID=79]
- Term 306 (EK1501-0010): EK1501-0010 EtherCAT Coupler (2A E-Bus, FX-SingleMode, ID switch) [ID=306]
- Term 307 (EL2202): EL2202 2Ch. Dig. Output 24V, 0.5A [ID=307]
- Term 308 (EL6070): EL6070 1Ch. Licensing-Terminal [ID=308]
- Term 309 (EL6695): EL6695 EtherCAT Bridge terminal (Primary) [ID=309]
- Term 310 (EK1122): EK1122 2 port EtherCAT junction [ID=310]
- EK1100_MR2K2: EK1100 EtherCAT Coupler (2A E-Bus) [ID=80 **DISABLED**]
- EL5042_M2K2X_M2K2Y: EL5042 2Ch. BiSS-C Encoder [ID=81]
- EL5042_M2K2rX: EL5042 2Ch. BiSS-C Encoder [ID=82]
- Term 83 (EL9221-5000): EL9221-5000 Overcurrent protection 24V DC, 1Ch., max. 10A, adjustable [ID=83 SyncUnit="Term 4 (EL9221-5000)"]
- EL7041_M2K2X: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=85]
- EL7041_M2K2Y: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=86]
- EL7041_M2K2rX: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=87]
- EL1004_M2K2_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=88]
- Term 92 (EL9011): EL9011 End Terminal [ID=92]
- EK1100_MR3K2: EK1100 EtherCAT Coupler (2A E-Bus) [ID=121 **DISABLED**]
- EL5042_M3K2X_M3K2Y: EL5042 2Ch. BiSS-C Encoder [ID=122]
- EL5042_M3K2rY: EL5042 2Ch. BiSS-C Encoder [ID=123]
- Term 124 (EL9221-5000): EL9221-5000 Overcurrent protection 24V DC, 1Ch., max. 10A, adjustable [ID=124 SyncUnit="Term 4 (EL9221-5000)"]
- EL7041_M3K2X: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=139]
- EL7041_M3K2Y: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=140]
- EL7041_M3K2rY: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=141]
- Term 142 (EL9410): EL9410 E-Bus Power Supplier (Diagnostics) [ID=142]
- Term 143 (EL3204)_RTDs: EL3204 4Ch. Ana. Input PT100 (RTD) [ID=143]
- Term 144 (EL3202-0010)_RTDs: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=144]
- EL3054_M3K2_FWM_PRSM: EL3054 4Ch. Ana. Input 4-20mA [ID=145]
- Term 147 (EL9011): EL9011 End Terminal [ID=147]
- EK1100_MR3K2_BENDER: EK1100 EtherCAT Coupler (2A E-Bus) [ID=146 **DISABLED**]
- EL5042_M3K2_BEND_USDS: EL5042 2Ch. BiSS-C Encoder [ID=148]
- EL9576_M3K2_BEND_US_PWR: EL9576 Brake chopper terminal [ID=149]
- EL7041_M3K2_BEND_US: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=150]
- EL9576_M3K2_BEND_DS_PWR: EL9576 Brake chopper terminal [ID=151]
- EL7041_M3K2_BEND_DS: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=152]
- EL3202-0010_M3K2US1_M3K2US2: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=153]
- EL3202-0010_M3K2US3_M3K2DS1: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=154]
- EL3202-0010_M3K2DS2_M3K2DS3: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=155]
- Term 156 (EL3054): EL3054 4Ch. Ana. Input 4-20mA [ID=156]
- EL1004_M3K2_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=157]
- Term 158 (EL9512): EL9512 Power supply terminal 12V [ID=158]
- EL2024-0010_M3K2_BEND_LED1: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=159]
- EL2024-0010_M3K2_BEND_LED2: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=160]
- Term 163 (EL9011): EL9011 End Terminal [ID=163]
- Term 322 (EK1122): EK1122 2 port EtherCAT junction [ID=322]
- EK1100_MR4K2: EK1100 EtherCAT Coupler (2A E-Bus) [ID=93 **DISABLED**]
- EL5042_M4K2X_M4K2Y: EL5042 2Ch. BiSS-C Encoder [ID=94]
- EL5042_M4K2rX: EL5042 2Ch. BiSS-C Encoder [ID=95]
- Term 96 (EL9221-5000): EL9221-5000 Overcurrent protection 24V DC, 1Ch., max. 10A, adjustable [ID=96 SyncUnit="Term 4 (EL9221-5000)"]
- EL7041_M4K2X: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=97]
- EL7041_M4K2Y: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=98]
- EL7041_M4K2rX: EL7041-0052 1Ch. Stepper motor output stage (50V, 5A) [ID=99]
- Term 100 (EL9410): EL9410 E-Bus Power Supplier (Diagnostics) [ID=100]
- Term 102 (EL3204)_RTDs: EL3204 4Ch. Ana. Input PT100 (RTD) [ID=102]
- Term 103 (EL3202-0010)_RTDs: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=103]
- EL3054_M4K2_FWM_PRSM: EL3054 4Ch. Ana. Input 4-20mA [ID=104]
- Term 105 (EL9011): EL9011 End Terminal [ID=105]
- EK1100_MR4K2_BENDER: EK1100 EtherCAT Coupler (2A E-Bus) [ID=106 **DISABLED**]
- EL5042_M4K2_BEND_USDS: EL5042 2Ch. BiSS-C Encoder [ID=107]
- EL9576_M4K2_BEND_US_PWR: EL9576 Brake chopper terminal [ID=108]
- EL7041_M4K2_BEND_US: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=109]
- EL9576_M4K2_BEND_DS_PWR: EL9576 Brake chopper terminal [ID=110]
- EL7041_M4K2_BEND_DS: EL7041 1Ch. Stepper motor output stage (50V, 5A) [ID=111]
- EL3202-0010_M4K2US1_M4K2US2: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=112]
- EL3202-0010_M4K2US3_M4K2DS1: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=113]
- EL3202-0010_M4K2DS2_M4K2DS3: EL3202-0010 2Ch. Ana. Input PT100 (RTD), High Precision [ID=114]
- Term 115 (EL3054): EL3054 4Ch. Ana. Input 4-20mA [ID=115]
- EL1004_M4K2_STO: EL1004 4Ch. Dig. Input 24V, 3ms [ID=116]
- Term 117 (EL9512): EL9512 Power supply terminal 12V [ID=117]
- EL2024-0010_M4K2_BEND_LED1: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=118]
- EL2024-0010_M4K2_BEND_LED2: EL2024-0010 4Ch. Dig. Output 12V, 2A [ID=119]
- Term 120 (EL9011): EL9011 End Terminal [ID=120]
Note also the SyncUnit annotation on relevant items. This isn't very obvious from the project files, so it could be a nice addition. We could easily add the ethercat address information as in the tooltip on the original graph, but it isn't so relevant for our purposes.
Excerpt from Sphinx docs:
(clipped)
(clipped)
Mostly readable, I think
PLC summary now has this information (and is setup for a cron job): https://pcdshub.github.io/plc-summary/ethercat.html#pcdshub-lcls-plc-sxr-satt
I'd imagine there is enough information in the TwinCAT project to assemble a diagram similar to the following:
It'd be nice if pytmc could generate such a diagram for usage in project documentation.