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Merged fix for too many PDOs\? and a new example

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Hakan Bastedt
2025-08-17 20:41:59 +02:00
parent 15d25ab06d dac61fbba5
commit 430eedd77d
11 changed files with 1130 additions and 1231 deletions
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294
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
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@@ -39,10 +39,82 @@
"name": "BasePeriod",
"access": "RW",
"dtype": "UNSIGNED32",
"value": "20000",
"value": "10000",
"isSDOitem": true,
"data": "&Obj.BasePeriod"
},
"2001": {
"otype": "VAR",
"name": "StepsPerMM1",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM1"
},
"2002": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM2"
},
"2003": {
"otype": "VAR",
"name": "StepsPerMM3",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM3"
},
"2004": {
"otype": "VAR",
"name": "StepsPerMM4",
"access": "RW",
"dtype": "REAL32",
"value": "200",
"isSDOitem": true,
"data": "&Obj.StepsPerMM4"
},
"2005": {
"otype": "VAR",
"name": "MaxAcceleration1",
"access": "RW",
"dtype": "REAL32",
"value": "1000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration1"
},
"2006": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RW",
"dtype": "REAL32",
"value": "1000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration2"
},
"2007": {
"otype": "VAR",
"name": "MaxAcceleration3",
"access": "RW",
"dtype": "REAL32",
"value": "1000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration3"
},
"2008": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RW",
"dtype": "REAL32",
"value": "1000000",
"isSDOitem": true,
"data": "&Obj.MaxAcceleration4"
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
@@ -195,93 +267,27 @@
},
"7002": {
"otype": "VAR",
"name": "CommandedPosition1",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.CommandedPosition1"
"data": "&Obj.Enable1"
},
"7003": {
"otype": "VAR",
"name": "CommandedPosition2",
"name": "Enable2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.CommandedPosition2"
"data": "&Obj.Enable2"
},
"7004": {
"otype": "VAR",
"name": "CommandedPosition3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition3"
},
"7005": {
"otype": "VAR",
"name": "CommandedPosition4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition4"
},
"7006": {
"otype": "VAR",
"name": "StepsPerMM1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.StepsPerMM1"
},
"7007": {
"otype": "VAR",
"name": "StepsPerMM2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.StepsPerMM2"
},
"7008": {
"otype": "VAR",
"name": "StepsPerMM3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.StepsPerMM3"
},
"7009": {
"otype": "VAR",
"name": "StepsPerMM4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.StepsPerMM4"
},
"7010": {
"otype": "VAR",
"name": "Enable3",
"access": "RO",
@@ -292,7 +298,7 @@
"value": "0",
"data": "&Obj.Enable3"
},
"7011": {
"7005": {
"otype": "VAR",
"name": "Enable4",
"access": "RO",
@@ -303,16 +309,49 @@
"value": "0",
"data": "&Obj.Enable4"
},
"7012": {
"7006": {
"otype": "VAR",
"name": "EncIndexLatchEnable",
"name": "CommandedPosition1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"dtype": "REAL32",
"value": "0",
"data": "&Obj.EncIndexLatchEnable"
"data": "&Obj.CommandedPosition1"
},
"7007": {
"otype": "VAR",
"name": "CommandedPosition2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition2"
},
"7008": {
"otype": "VAR",
"name": "CommandedPosition3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition3"
},
"7009": {
"otype": "VAR",
"name": "CommandedPosition4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.CommandedPosition4"
},
"60664": {
"otype": "VAR",
@@ -325,70 +364,45 @@
"value": "0"
},
"700A": {
"otype": "VAR",
"name": "MaxAcceleration1",
"otype": "RECORD",
"name": "EncoderIn",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IndexStatus",
"dtype": "UNSIGNED8",
"data": "&Obj.EncoderIn.IndexStatus",
"value": "0",
"access": "RO"
},
{
"name": "IndexByte",
"dtype": "UNSIGNED8",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.IndexByte"
},
{
"name": "Position",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Position"
},
{
"name": "Frequency",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Frequency"
}
],
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration1"
},
"700B": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration2"
},
"700C": {
"otype": "VAR",
"name": "MaxAcceleration3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration3"
},
"700D": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.MaxAcceleration4"
},
"700E": {
"otype": "VAR",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable1"
},
"700F": {
"otype": "VAR",
"name": "Enable2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable2"
]
}
}
},
@@ -412,4 +426,4 @@
"Sync1shiftTime": "0"
}
]
}
}