95 lines
2.8 KiB
PowerShell
95 lines
2.8 KiB
PowerShell
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#Requires -Version 5.1
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<#
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.SYNOPSIS
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Configure EL6695 PDOs to 1024 bytes via TcSysManCmdHelper ConsumeXml.
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.DESCRIPTION
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Uses TcSysManCmdHelper.exe (Beckhoff CLI tool) to inject the PDO
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configuration into the .tsproj file, then activate + save.
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The ConsumeXml payload sets:
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0x1608 (IO Outputs) → 0x7000:01 ARRAY[0..1023] OF BYTE (SyncMan 2)
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0x1A08 (IO Inputs) → 0x6000:01 ARRAY[0..1023] OF BYTE (SyncMan 3)
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.PARAMETER ProjectDir
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Directory containing the .tsproj file.
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.PARAMETER PayloadBytes
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PDO payload size in bytes. Default: 1024.
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.PARAMETER Activate
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After configuring, also activate + save. Default: $true.
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.EXAMPLE
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.\tc-configure-pdo.ps1
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.\tc-configure-pdo.ps1 -PayloadBytes 512
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.\tc-configure-pdo.ps1 -Activate:$false
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#>
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[CmdletBinding()]
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param(
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[string]$ProjectDir = $null,
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[int]$PayloadBytes = 1024,
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[switch]$Activate = $true
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)
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. "$PSScriptRoot\tc-common.ps1"
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if (-not $ProjectDir) { $ProjectDir = Split-Path $script:DefaultTsproj -Parent }
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$tsproj = Join-Path $ProjectDir "TwinCAT_EL6695_Secondary.tsproj"
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$helper = "C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\TcSysManCmdHelper.exe"
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New-Log $script:DefaultLogDir
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$LogFile = Join-Path $script:DefaultLogDir "configure-pdo.log"
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Write-Log "=== Configure EL6695 PDO ${PayloadBytes}B ===" $LogFile
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Write-Log "Project: $tsproj" $LogFile
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if (-not (Test-Path $helper)) { Write-Log "FATAL: TcSysManCmdHelper.exe not found" $LogFile; exit 1 }
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if (-not (Test-Path $tsproj)) { Write-Log "FATAL: .tsproj not found" $LogFile; exit 1 }
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# Backup
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$bak = $tsproj + ".bak_" + (Get-Date -Format 'yyyyMMdd_HHmmss')
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Copy-Item $tsproj $bak -Force
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Write-Log "Backup: $bak" $LogFile
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# ConsumeXml payload
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$lastSub = "{0:X4}" -f ($PayloadBytes - 1)
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$xml = @"
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<TreeItem>
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<EtherCAT>
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<Slave>
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<Pdo Name="IO Outputs" Index="#x1608" InOut="1" Flags="#x0020" SyncMan="2">
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<Entry Name="IO Outputs" Index="#x7000" Sub="#x01">
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<Type>ARRAY [0..$lastSub] OF BYTE</Type>
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</Entry>
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</Pdo>
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<Pdo Name="IO Inputs" Index="#x1a08" Flags="#x0020" SyncMan="3">
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<Entry Name="IO Inputs" Index="#x6000" Sub="#x01">
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<Type>ARRAY [0..$lastSub] OF BYTE</Type>
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</Entry>
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</Pdo>
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</Slave>
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</EtherCAT>
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</TreeItem>
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"@
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# Build argument list
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$argList = @(
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"-v", "4026.0",
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"-o", $tsproj,
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"-x", $script:El6695Path,
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$xml
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)
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if ($Activate) {
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$argList += @("-a", "-s", $tsproj)
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}
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Write-Log "Running TcSysManCmdHelper..." $LogFile
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$proc = Start-Process -FilePath $helper -ArgumentList $argList -Wait -PassThru -NoNewWindow
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Write-Log "Exit code: $($proc.ExitCode)" $LogFile
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if ($proc.ExitCode -ne 0) {
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Write-Log "WARNING: non-zero exit. Check TwinCAT System Manager messages." $LogFile
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}
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Write-Log "=== Configure PDO complete ===" $LogFile
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