<Axle>
...
<\Axle>
<Axle>
...
<\Axle>
<\Axles>
</Config>
• All config elements must be inside the <Config> element.
• All config elements shown above are mandatory.
• The numerical value started with # means that it is a decimal value.
• The numerical value started with#x means that it is a hexadecimal value.
• <PeriodTime> element means that the period of control task is 10ms.
• <MaxSafeStack> means the stack size, and it is an estimated value. 8K is enough to satisfy most application.
• <master_status_update_freq> element means the frequency of masters status update. the value #x means update the
masters status every task period.
• <slave_status_update_freq> element means the frequency of slaves status update. the value #1 means update the slaves
status every task period.
• <axle_status_update_freq> element means the frequency of axles status update. the value #1 means update the axles status
every task period.
• <sync_ref_update_freq> element means the frequency of reference clock update. the value #2 means update the axles status
every two task period.
• <is_xenomai> element means whether Xenomai is supported. the value #1 means that Xenomai is supported on this host,
and #0 means not.
• <sched_priority> element means the priority of the user task.
• <Masters> element could contain more then one Master element . For most cases, there is only one master on a host.
• <Axles> element could contain more then one Axle element, which is the developer really care about.
12.3.1 Master Element
As
CoE network
section shown, the Master could has many slaves, so the Master element will consist of some
Slave
elements.
<Master>
<Master_index>#0</Master_index>
<Reference_clock>#0</Reference_clock>
<Slave alias="#0" slave_position="#0">
....
</Slave>
<Slave alias="#1" slave_position="#1">
....
</Slave>
</Master>
• <Master_index> element means the index of the master. as mentioned above, for many cases, there is only one master, so
the value of this element is always #0.
• <Reference_clock> element is used to indicate which slave will be used the reference clock.
• <Slave> element means there is a slave on this master.
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nxp-servo
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User's Guide
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