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
42 lines
1.5 KiB
PowerShell
42 lines
1.5 KiB
PowerShell
#Requires -Version 5.1
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#Requires -RunAsAdministrator
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$ErrorActionPreference = 'Continue'
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$LogFile = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Secondary\Logs\tc-start-runtime.log"
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New-Item -ItemType Directory -Force -Path (Split-Path $LogFile) | Out-Null
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function Write-Log($Message) {
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$line = "[{0}] {1}" -f (Get-Date -Format 'HH:mm:ss'), $Message
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Write-Host $line
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Add-Content -Path $LogFile -Value $line -Encoding UTF8
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}
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Write-Log "=== Attempt to start TwinCAT runtime via ADS WriteControl ==="
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$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
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try { Add-Type -Path $adsDll -ErrorAction Stop; Write-Log "TwinCAT.Ads loaded" } catch { Write-Log "FATAL: cannot load ADS dll: $_"; exit 1 }
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$netId = '169.254.176.217.1.1'
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$port = 10000
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$c = New-Object TwinCAT.Ads.TcAdsClient
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try {
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$c.Connect($netId, $port)
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Write-Log "Connected to $netId : $port"
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$before = $c.ReadState()
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Write-Log "Before: AdsState = $($before.AdsState), DeviceState = $($before.DeviceState)"
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Write-Log "Writing AdsState.Run..."
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$stateInfo = New-Object TwinCAT.Ads.StateInfo([TwinCAT.Ads.AdsState]::Run, 0)
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$c.WriteControl($stateInfo)
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Write-Log "WriteControl Run OK"
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Start-Sleep -Seconds 10
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$after = $c.ReadState()
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Write-Log "After: AdsState = $($after.AdsState), DeviceState = $($after.DeviceState)"
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} catch {
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Write-Log "ERR: $($_.Exception.Message)"
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} finally { $c.Dispose() }
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Write-Log "=== done ==="
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