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
94 lines
3.7 KiB
PowerShell
94 lines
3.7 KiB
PowerShell
#Requires -RunAsAdministrator
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#Requires -Version 5.1
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[CmdletBinding()]
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param()
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$ErrorActionPreference = 'Continue'
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. "$PSScriptRoot\tc-common.ps1"
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$Solution = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Primary\TwinCATProject1.sln"
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$LogDir = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Primary\Logs"
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New-Log $LogDir
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$LogFile = Join-Path $LogDir "diag-online.log"
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function Log($m) { Write-Log $m $LogFile }
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Log "=== Online diagnostic (Primary) ==="
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$dte = Get-Dte
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if (-not (Open-Solution -Dte $dte -Solution $Solution)) { Log "FATAL: solution not open"; exit 1 }
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$sysMgr = Get-SysManager -Dte $dte
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if (-not $sysMgr) { Log "FATAL: no SysManager"; exit 1 }
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try { $sysMgr.SetTargetNetId('169.254.176.217.1.1'); Log "TargetNetId set" } catch { Log "SetTargetNetId: $_" }
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Start-Sleep -Seconds 3
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try { Log "IsTwinCATStarted=$($sysMgr.IsTwinCATStarted) CurrentMode=$($sysMgr.CurrentMode)" } catch { Log "state read: $_" }
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# --- EtherCAT master online XML ---
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try {
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$io = $sysMgr.LookupTreeItem('TIID')
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$ecat = $null
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for ($j = 1; $j -le [int]$io.ChildCount; $j++) {
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try {
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$ch = $io.Child($j)
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if ([int]$ch.ItemSubType -eq 111) { $ecat = $ch; break }
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} catch {}
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}
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if ($ecat) {
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Log "Master: $($ecat.Name)"
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$xml = $ecat.ProduceXml($true)
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$xmlFile = Join-Path $LogDir 'diag_master_online.xml'
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[System.IO.File]::WriteAllText($xmlFile, $xml, [System.Text.Encoding]::UTF8)
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Log "Online XML saved: $xmlFile ($($xml.Length) bytes)"
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for ($j = 1; $j -le [int]$ecat.ChildCount; $j++) {
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try {
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$b = $ecat.Child($j)
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$sx = $b.ProduceXml($true)
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$bx = Join-Path $LogDir ("diag_box_{0}.xml" -f $j)
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[System.IO.File]::WriteAllText($bx, $sx, [System.Text.Encoding]::UTF8)
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Log (" Box[{0}] {1} -> {2} ({3} bytes)" -f $j, $b.Name, $bx, $sx.Length)
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} catch { Log " Box[$j] read err: $_" }
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}
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} else { Log "No EtherCAT master found" }
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} catch { Log "Master XML: $_" }
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# --- PLC variables via ADS (port 851) ---
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$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
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try {
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Add-Type -Path $adsDll -ErrorAction Stop
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$c = New-Object TwinCAT.Ads.TcAdsClient
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$c.Connect('169.254.176.217.1.1', 851)
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function Read-Sym($name, $type) {
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try {
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$h = $script:c.CreateVariableHandle($name)
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$v = $script:c.ReadAny($h, $type)
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$script:c.DeleteVariableHandle($h)
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return $v
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} catch { return "ERR: $($_.Exception.Message)" }
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}
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Log "nCycles = $(Read-Sym 'GVL_Sync.nCycles' ([uint32]))"
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Log "bSync = $(Read-Sym 'GVL_Sync.bSync' ([bool]))"
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Log "nReturnedSeq = $(Read-Sym 'GVL_Sync.nReturnedSeq' ([uint32]))"
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Log "nProcessedSeq = $(Read-Sym 'GVL_Sync.nProcessedSeq' ([uint32]))"
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Log "bProcessingOk = $(Read-Sym 'GVL_Sync.bProcessingOk' ([bool]))"
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try {
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$h = $c.CreateVariableHandle('GVL_Sync.aIn1')
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$arr = $c.ReadAny($h, [byte[]], @(1024))
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$c.DeleteVariableHandle($h)
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Log ("aIn1[0..15] = " + ([BitConverter]::ToString($arr[0..15])))
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$nz = ($arr | Where-Object { $_ -ne 0 }).Count
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Log "aIn1 nonzero bytes = $nz / 1024"
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} catch { Log "aIn1 read: $_" }
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try {
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$h = $c.CreateVariableHandle('GVL_Sync.aOut1')
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$arr = $c.ReadAny($h, [byte[]], @(1024))
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$c.DeleteVariableHandle($h)
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Log ("aOut1[0..15] = " + ([BitConverter]::ToString($arr[0..15])))
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$nz = ($arr | Where-Object { $_ -ne 0 }).Count
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Log "aOut1 nonzero bytes = $nz / 1024"
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} catch { Log "aOut1 read: $_" }
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$c.Dispose()
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} catch { Log "ADS: $_" }
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Log "=== Done ==="
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