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Updated encoder

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This commit is contained in:
Hakan Bastedt
2025-08-06 21:02:22 +02:00
parent 90a2d4dd32
commit 44a15a21f8
6 changed files with 382 additions and 71 deletions
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45
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
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@@ -72,25 +72,25 @@
},
"6000": {
"otype": "VAR",
"name": "Velocity",
"name": "EncPosition",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Velocity"
"data": "&Obj.EncPosition"
},
"6001": {
"otype": "VAR",
"name": "Frequency",
"name": "EncVelocity",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Frequency"
"data": "&Obj.EncVelocity"
},
"6002": {
"otype": "VAR",
@@ -146,19 +146,41 @@
"dtype": "REAL32",
"value": "0",
"data": "&Obj.ActualPosition4"
},
"6007": {
"otype": "VAR",
"name": "IndexByte",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexByte"
},
"6008": {
"otype": "VAR",
"name": "IndexStatus",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED32",
"value": "0",
"data": "&Obj.IndexStatus"
}
},
"rxpdo": {
"7000": {
"otype": "VAR",
"name": "Scale",
"name": "EncScale",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Scale"
"data": "&Obj.EncScale"
},
"7001": {
"otype": "VAR",
@@ -281,6 +303,17 @@
"value": "0",
"data": "&Obj.Enable4"
},
"7012": {
"otype": "VAR",
"name": "EncIndexLatchEnable",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.EncIndexLatchEnable"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",