309aaba342
- 8B PDO config: ULINT-sized payload, no 0x1A01 diag PDO on SM3 (device rejected SM3=8 with diag assigned: 'size not allowed, min/max 0xa') - twin_layout_blob_sized(): single 64-bit mapping entry for 8B payloads - Ticker: per-byte XOR 0x5A transform in 8B mode so TwinCAT can verify every byte individually (1KB path unchanged, const-guarded) - TwinCAT automation scripts: deploy with RPC retry, LinkVariables-based whole-array relink (element links only carry 1 byte), ADS watch, diag - Docs: 8B design, verification methodology, test report
82 lines
2.6 KiB
PowerShell
82 lines
2.6 KiB
PowerShell
#Requires -Version 5.1
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<#
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.SYNOPSIS
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Scan the EtherCAT bus and list discovered devices.
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.DESCRIPTION
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Opens the solution, switches to CONFIG mode (so scanning is possible),
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then polls the EtherCAT device's ProduceXml for FoundDevices/FoundBoxes.
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.PARAMETER Solution
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Path to the .sln file.
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.EXAMPLE
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.\tc-scan.ps1
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#>
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[CmdletBinding()]
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param(
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[string]$Solution = $null,
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[string]$TargetNetId = "10.0.0.106.1.1"
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)
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. "$PSScriptRoot\tc-common.ps1"
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if (-not $Solution) { $Solution = $script:DefaultSolution }
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New-Log $script:DefaultLogDir
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$LogFile = Join-Path $script:DefaultLogDir "scan.log"
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Write-Log "=== EtherCAT Scan ===" $LogFile
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$dte = Get-Dte -Visible:$true
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try {
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if (-not (Open-Solution -Dte $dte -Solution $Solution)) { throw "Solution did not open" }
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$sysMgr = Get-SysManager -Dte $dte
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try { $sysMgr.SetTargetNetId($TargetNetId) } catch { }
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# Activate to go online (needed for scanning)
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Write-Log "Activating config to go online..." $LogFile
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try { $sysMgr.ActivateConfiguration() } catch { Write-Log "Activate warning: $_" $LogFile }
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Start-Sleep -Seconds 10
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# Find EtherCAT device
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$io = Find-TreeItem -SysMgr $sysMgr -Paths @("TIID")
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if (-not $io) { throw "TIID not found" }
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# Enumerate children to find EtherCAT device
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foreach ($child in $io) {
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$xml = $null
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try { $xml = $child.ProduceXml($false) } catch { }
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if ($xml -and $xml -match "<ItemSubType>(\d+)</ItemSubType>") {
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$sub = [int]$Matches[1]
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if ($sub -in @(90, 91, 92) -or $child.Name -like "*EtherCAT*") {
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Write-Log "EtherCAT device: $($child.Name) SubType=$sub" $LogFile
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# Poll for boxes
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for ($poll = 0; $poll -lt 10; $poll++) {
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Start-Sleep -Seconds 2
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$devXml = $child.ProduceXml($false)
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if ($devXml -match "FoundBoxes") {
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Write-Log "FoundBoxes detected" $LogFile
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break
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}
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}
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# List boxes
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foreach ($box in $child) {
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Write-Log " Box: $($box.Name) Type=$($box.ItemType)" $LogFile
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}
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# Save XML
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$outFile = Join-Path $script:DefaultLogDir "scan_device.xml"
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[System.IO.File]::WriteAllText($outFile, $child.ProduceXml($true))
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Write-Log "Device XML saved: $outFile" $LogFile
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break
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}
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}
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}
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Write-Log "=== Scan complete ===" $LogFile
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}
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finally {
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try { $dte.Quit() } catch { }
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}
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