diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml index 1172ab6..0b37f7a 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml @@ -77,7 +77,7 @@ DT1600 - 48 + 80 0 Max SubIndex @@ -90,7 +90,7 @@ 1 - EncScale + IndexLatchEnable UDINT 32 16 @@ -98,6 +98,16 @@ ro + + 2 + Scale + UDINT + 32 + 48 + + ro + + DT1601 @@ -317,6 +327,54 @@ DT160A + 48 + + 0 + Max SubIndex + USINT + 8 + 0 + + ro + + + + 1 + Voltage + UDINT + 32 + 16 + + ro + + + + + DT1A00 + 48 + + 0 + Max SubIndex + USINT + 8 + 0 + + ro + + + + 1 + FrequencyCounterFrequency + UDINT + 32 + 16 + + ro + + + + + DT1A01 144 0 @@ -360,7 +418,7 @@ 4 - Frequency + Velocity UDINT 32 112 @@ -369,78 +427,6 @@ - - DT1612 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - EncIndexLatchEnable - UDINT - 32 - 16 - - ro - - - - - DT1A00 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - EncPosition - UDINT - 32 - 16 - - ro - - - - - DT1A01 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - EncVelocity - UDINT - 32 - 16 - - ro - - - DT1A02 48 @@ -561,54 +547,6 @@ - - DT1A07 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - IndexByte - UDINT - 32 - 16 - - ro - - - - - DT1A08 - 48 - - 0 - Max SubIndex - USINT - 8 - 0 - - ro - - - - 1 - IndexStatus - UDINT - 32 - 16 - - ro - - - DT1C00ARR USINT @@ -676,15 +614,15 @@ DT1C13ARR UINT - 144 + 112 1 - 9 + 7 DT1C13 - 160 + 128 0 Max SubIndex @@ -698,7 +636,7 @@ Elements DT1C13ARR - 144 + 112 16 ro @@ -706,7 +644,7 @@ - DT700A + DT6001 96 0 @@ -726,7 +664,7 @@ 16 ro - R + T @@ -737,7 +675,7 @@ 24 ro - R + T @@ -748,15 +686,51 @@ 32 ro - R + T 4 - Frequency + Velocity REAL 32 64 + + ro + T + + + + + DT7000 + 56 + + 0 + Max SubIndex + USINT + 8 + 0 + + ro + + + + 1 + IndexLatchEnable + USINT + 8 + 16 + + ro + R + + + + 2 + Scale + REAL + 32 + 24 ro R @@ -881,20 +855,26 @@ #x1600 - EncScale + EncoderOut DT1600 - 48 + 80 Max SubIndex - 1 + 2 - EncScale + IndexLatchEnable - #x70000020 + #x70000108 + + + + Scale + + #x70000220 @@ -1101,8 +1081,52 @@ #x160A - EncoderIn + Voltage DT160A + 48 + + + Max SubIndex + + 1 + + + + Voltage + + #x700A0020 + + + + + + + + #x1A00 + FrequencyCounterFrequency + DT1A00 + 48 + + + Max SubIndex + + 1 + + + + FrequencyCounterFrequency + + #x60000020 + + + + + + + + #x1A01 + EncoderIn + DT1A01 144 @@ -1114,91 +1138,25 @@ IndexStatus - #x700A0108 + #x60010108 IndexByte - #x700A0208 + #x60010208 Position - #x700A0320 + #x60010320 - Frequency + Velocity - #x700A0420 - - - - - - - - #x1612 - EncIndexLatchEnable - DT1612 - 48 - - - Max SubIndex - - 1 - - - - EncIndexLatchEnable - - #x70120008 - - - - - - - - #x1A00 - EncPosition - DT1A00 - 48 - - - Max SubIndex - - 1 - - - - EncPosition - - #x60000020 - - - - - - - - #x1A01 - EncVelocity - DT1A01 - 48 - - - Max SubIndex - - 1 - - - - EncVelocity - - #x60010020 + #x60010420 @@ -1315,50 +1273,6 @@ - - #x1A07 - IndexByte - DT1A07 - 48 - - - Max SubIndex - - 1 - - - - IndexByte - - #x60070020 - - - - - - - - #x1A08 - IndexStatus - DT1A08 - 48 - - - Max SubIndex - - 1 - - - - IndexStatus - - #x60080020 - - - - - - #x1C00 Sync Manager Communication Type @@ -1485,12 +1399,12 @@ #x1C13 Sync Manager 3 PDO Assignment DT1C13 - 160 + 128 Max SubIndex - 9 + 7 @@ -1535,18 +1449,6 @@ #x1A06 - - PDO Mapping - - #x1A07 - - - - PDO Mapping - - #x1A08 - - @@ -1661,7 +1563,7 @@ #x6000 - EncPosition + FrequencyCounterFrequency REAL 32 @@ -1674,15 +1576,42 @@ #x6001 - EncVelocity - REAL - 32 + EncoderIn + DT6001 + 96 - 0 + + Max SubIndex + + 4 + + + + IndexStatus + + 0 + + + + IndexByte + + 0 + + + + Position + + 0 + + + + Velocity + + 0 + + - ro - T @@ -1750,43 +1679,32 @@ T - - #x6007 - IndexByte - UDINT - 32 - - 0 - - - ro - T - - - - #x6008 - IndexStatus - UDINT - 32 - - 0 - - - ro - T - - #x7000 - EncScale - REAL - 32 + EncoderOut + DT7000 + 56 - 0 + + Max SubIndex + + 2 + + + + IndexLatchEnable + + 0 + + + + Scale + + 0 + + - ro - R @@ -1908,42 +1826,15 @@ #x700A - EncoderIn - DT700A - 96 + Voltage + REAL + 32 - - Max SubIndex - - 4 - - - - IndexStatus - - 0 - - - - IndexByte - - 0 - - - - Position - - 0 - - - - Frequency - - 0 - - + 0 + ro + R @@ -1958,12 +1849,19 @@ Inputs #x1600 - EncScale + EncoderOut #x7000 - #x0 + #x1 + 8 + IndexLatchEnable + USINT + + + #x7000 + #x2 32 - EncScale + Scale REAL @@ -2068,55 +1966,55 @@ #x160A - EncoderIn + Voltage #x700A + #x0 + 32 + Voltage + REAL + + + + #x1A00 + FrequencyCounterFrequency + + #x6000 + #x0 + 32 + FrequencyCounterFrequency + REAL + + + + #x1A01 + EncoderIn + + #x6001 #x1 8 IndexStatus USINT - #x700A + #x6001 #x2 8 IndexByte USINT - #x700A + #x6001 #x3 32 Position REAL - #x700A + #x6001 #x4 32 - Frequency - REAL - - - - #x1A00 - EncPosition - - #x6000 - #x0 - 32 - EncPosition - REAL - - - - #x1A01 - EncVelocity - - #x6001 - #x0 - 32 - EncVelocity + Velocity REAL @@ -2175,30 +2073,8 @@ REAL - - #x1A07 - IndexByte - - #x6007 - #x0 - 32 - IndexByte - UDINT - - - - #x1A08 - IndexStatus - - #x6008 - #x0 - 32 - IndexStatus - UDINT - - - + @@ -2219,4 +2095,4 @@ - + \ No newline at end of file diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h index 4106ca0..b9b66d1 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h @@ -33,8 +33,8 @@ #define SM3_smc 0x20 #define SM3_act 1 -#define MAX_MAPPINGS_SM2 14 -#define MAX_MAPPINGS_SM3 7 +#define MAX_MAPPINGS_SM2 12 +#define MAX_MAPPINGS_SM3 10 #define MAX_RXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512 diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin index 619c11a..e5685d6 100755 Binary files a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin and b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin differ diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex index 2bcb9d2..f7a9cce 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex @@ -4,7 +4,7 @@ :20006000000000000000000000000000000000000000000000000000000000000F00010070 :200080000A001F00040B434E4320636F6E74726F6C0E4D616368696E65436F6E74726F6C8F :2000A00006494D474342591A4D6574616C4D7573696E677320456173657243415420333021 -:2000C00030301E00100002030104003F000000000000000000001100000000000000000038 +:2000C00030301E001000020301040013000000000000000000001100000000000000000064 :2000E000000000000000280002000102030029001000001000022600010100120002220027 :2001000001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFFFFFF6D :20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json index 3e7b05f..ef4fd8e 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json @@ -144,25 +144,55 @@ }, "6000": { "otype": "VAR", - "name": "EncPosition", + "name": "FrequencyCounterFrequency", "access": "RO", "pdo_mappings": [ "txpdo" ], "dtype": "REAL32", "value": "0", - "data": "&Obj.EncPosition" + "data": "&Obj.FrequencyCounterFrequency" }, "6001": { - "otype": "VAR", - "name": "EncVelocity", + "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": "Velocity", + "dtype": "REAL32", + "value": "0", + "access": "RO", + "data": "&Obj.EncoderIn.Velocity" + } + ], "pdo_mappings": [ "txpdo" - ], - "dtype": "REAL32", - "value": "0", - "data": "&Obj.EncVelocity" + ] }, "6002": { "otype": "VAR", @@ -218,41 +248,35 @@ "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": "EncScale", + "otype": "RECORD", + "name": "EncoderOut", "access": "RO", + "items": [ + { + "name": "Max SubIndex" + }, + { + "name": "IndexLatchEnable", + "dtype": "UNSIGNED8", + "data": "&Obj.EncoderOut.IndexLatchEnable", + "value": "0", + "access": "RO" + }, + { + "name": "Scale", + "dtype": "REAL32", + "value": "0", + "access": "RO", + "data": "&Obj.EncoderOut.Scale" + } + ], "pdo_mappings": [ "rxpdo" - ], - "dtype": "REAL32", - "value": "0", - "data": "&Obj.EncScale" + ] }, "7001": { "otype": "VAR", @@ -364,45 +388,15 @@ "value": "0" }, "700A": { - "otype": "RECORD", - "name": "EncoderIn", + "otype": "VAR", + "name": "Voltage", "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.Voltage" } } }, @@ -426,4 +420,4 @@ "Sync1shiftTime": "0" } ] -} +} \ No newline at end of file diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c index b43910c..807ff10 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c @@ -13,9 +13,10 @@ static const char acName1018_01[] = "Vendor ID"; static const char acName1018_02[] = "Product Code"; static const char acName1018_03[] = "Revision Number"; static const char acName1018_04[] = "Serial Number"; -static const char acName1600[] = "EncScale"; +static const char acName1600[] = "EncoderOut"; static const char acName1600_00[] = "Max SubIndex"; -static const char acName1600_01[] = "EncScale"; +static const char acName1600_01[] = "IndexLatchEnable"; +static const char acName1600_02[] = "Scale"; static const char acName1601[] = "Output4"; static const char acName1601_00[] = "Max SubIndex"; static const char acName1601_01[] = "Output4"; @@ -43,18 +44,18 @@ static const char acName1608_01[] = "CommandedPosition3"; static const char acName1609[] = "CommandedPosition4"; static const char acName1609_00[] = "Max SubIndex"; static const char acName1609_01[] = "CommandedPosition4"; -static const char acName160A[] = "EncoderIn"; +static const char acName160A[] = "Voltage"; static const char acName160A_00[] = "Max SubIndex"; -static const char acName160A_01[] = "IndexStatus"; -static const char acName160A_02[] = "IndexByte"; -static const char acName160A_03[] = "Position"; -static const char acName160A_04[] = "Frequency"; -static const char acName1A00[] = "Velocity"; +static const char acName160A_01[] = "Voltage"; +static const char acName1A00[] = "FrequencyCounterFrequency"; static const char acName1A00_00[] = "Max SubIndex"; -static const char acName1A00_01[] = "EncPosition"; -static const char acName1A01[] = "EncVelocity"; +static const char acName1A00_01[] = "FrequencyCounterFrequency"; +static const char acName1A01[] = "EncoderIn"; static const char acName1A01_00[] = "Max SubIndex"; -static const char acName1A01_01[] = "EncVelocity"; +static const char acName1A01_01[] = "IndexStatus"; +static const char acName1A01_02[] = "IndexByte"; +static const char acName1A01_03[] = "Position"; +static const char acName1A01_04[] = "Velocity"; static const char acName1A02[] = "Input8"; static const char acName1A02_00[] = "Max SubIndex"; static const char acName1A02_01[] = "Input8"; @@ -70,12 +71,6 @@ static const char acName1A05_01[] = "ActualPosition3"; static const char acName1A06[] = "ActualPosition4"; static const char acName1A06_00[] = "Max SubIndex"; static const char acName1A06_01[] = "ActualPosition4"; -static const char acName1A07[] = "IndexByte"; -static const char acName1A07_00[] = "Max SubIndex"; -static const char acName1A07_01[] = "IndexByte"; -static const char acName1A08[] = "IndexStatus"; -static const char acName1A08_00[] = "Max SubIndex"; -static const char acName1A08_01[] = "IndexStatus"; static const char acName1C00[] = "Sync Manager Communication Type"; static const char acName1C00_00[] = "Max SubIndex"; static const char acName1C00_01[] = "Communications Type SM0"; @@ -104,8 +99,6 @@ static const char acName1C13_04[] = "PDO Mapping"; static const char acName1C13_05[] = "PDO Mapping"; static const char acName1C13_06[] = "PDO Mapping"; static const char acName1C13_07[] = "PDO Mapping"; -static const char acName1C13_08[] = "PDO Mapping"; -static const char acName1C13_09[] = "PDO Mapping"; static const char acName2000[] = "BasePeriod"; static const char acName2001[] = "StepsPerMM1"; static const char acName2002[] = "StepsPerMM2"; @@ -115,16 +108,22 @@ static const char acName2005[] = "MaxAcceleration1"; static const char acName2006[] = "MaxAcceleration2"; static const char acName2007[] = "MaxAcceleration3"; static const char acName2008[] = "MaxAcceleration4"; -static const char acName6000[] = "Velocity"; -static const char acName6001[] = "Frequency"; +static const char acName6000[] = "FrequencyCounterFrequency"; +static const char acName6001[] = "EncoderIn"; +static const char acName6001_00[] = "Max SubIndex"; +static const char acName6001_01[] = "IndexStatus"; +static const char acName6001_02[] = "IndexByte"; +static const char acName6001_03[] = "Position"; +static const char acName6001_04[] = "Velocity"; static const char acName6002[] = "Input8"; static const char acName6003[] = "ActualPosition1"; static const char acName6004[] = "ActualPosition2"; static const char acName6005[] = "ActualPosition3"; static const char acName6006[] = "ActualPosition4"; -static const char acName6007[] = "IndexByte"; -static const char acName6008[] = "IndexStatus"; -static const char acName7000[] = "EncScale"; +static const char acName7000[] = "EncoderOut"; +static const char acName7000_00[] = "Max SubIndex"; +static const char acName7000_01[] = "IndexLatchEnable"; +static const char acName7000_02[] = "Scale"; static const char acName7001[] = "Output4"; static const char acName7002[] = "Enable1"; static const char acName7003[] = "Enable2"; @@ -134,12 +133,7 @@ static const char acName7006[] = "CommandedPosition1"; static const char acName7007[] = "CommandedPosition2"; static const char acName7008[] = "CommandedPosition3"; static const char acName7009[] = "CommandedPosition4"; -static const char acName700A[] = "EncoderIn"; -static const char acName700A_00[] = "Max SubIndex"; -static const char acName700A_01[] = "IndexStatus"; -static const char acName700A_02[] = "IndexByte"; -static const char acName700A_03[] = "Position"; -static const char acName700A_04[] = "Frequency"; +static const char acName700A[] = "Voltage"; const _objd SDO1000[] = { @@ -167,8 +161,9 @@ const _objd SDO1018[] = }; const _objd SDO1600[] = { - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 2, NULL}, + {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL}, + {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000220, NULL}, }; const _objd SDO1601[] = { @@ -217,16 +212,8 @@ const _objd SDO1609[] = }; const _objd SDO160A[] = { - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 4, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0108, NULL}, - {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_02, 0x700A0208, NULL}, - {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_03, 0x700A0320, NULL}, - {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_04, 0x700A0420, NULL}, -}; -const _objd SDO1612[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1612_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1612_01, 0x70120008, NULL}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 1, NULL}, + {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0020, NULL}, }; const _objd SDO1A00[] = { @@ -235,8 +222,11 @@ const _objd SDO1A00[] = }; const _objd SDO1A01[] = { - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 4, NULL}, + {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010108, NULL}, + {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_02, 0x60010208, NULL}, + {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_03, 0x60010320, NULL}, + {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_04, 0x60010420, NULL}, }; const _objd SDO1A02[] = { @@ -263,16 +253,6 @@ const _objd SDO1A06[] = {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL}, }; -const _objd SDO1A07[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070020, NULL}, -}; -const _objd SDO1A08[] = -{ - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL}, - {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080020, NULL}, -}; const _objd SDO1C00[] = { {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL}, @@ -298,7 +278,7 @@ const _objd SDO1C12[] = }; const _objd SDO1C13[] = { - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 9, NULL}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, NULL}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL}, {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL}, @@ -306,8 +286,6 @@ const _objd SDO1C13[] = {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL}, {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL}, {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL}, - {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL}, - {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL}, }; const _objd SDO2000[] = { @@ -347,11 +325,15 @@ const _objd SDO2008[] = }; const _objd SDO6000[] = { - {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPosition}, + {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.FrequencyCounterFrequency}, }; const _objd SDO6001[] = { - {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncVelocity}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_00, 4, NULL}, + {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_01, 0, &Obj.EncoderIn.IndexStatus}, + {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6001_02, 0, &Obj.EncoderIn.IndexByte}, + {0x03, DTYPE_REAL32, 32, ATYPE_RO, acName6001_03, 0x00000000, &Obj.EncoderIn.Position}, + {0x04, DTYPE_REAL32, 32, ATYPE_RO, acName6001_04, 0x00000000, &Obj.EncoderIn.Velocity}, }; const _objd SDO6002[] = { @@ -373,17 +355,11 @@ const _objd SDO6006[] = { {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition4}, }; -const _objd SDO6007[] = -{ - {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.IndexByte}, -}; -const _objd SDO6008[] = -{ - {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.IndexStatus}, -}; const _objd SDO7000[] = { - {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0x00000000, &Obj.EncScale}, + {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_00, 2, NULL}, + {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7000_01, 0, &Obj.EncoderOut.IndexLatchEnable}, + {0x02, DTYPE_REAL32, 32, ATYPE_RO, acName7000_02, 0x00000000, &Obj.EncoderOut.Scale}, }; const _objd SDO7001[] = { @@ -423,15 +399,7 @@ const _objd SDO7009[] = }; const _objd SDO700A[] = { - {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName700A_00, 4, NULL}, - {0x01, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName700A_01, 0, &Obj.EncoderIn.IndexStatus}, - {0x02, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName700A_02, 0, &Obj.EncoderIn.IndexByte}, - {0x03, DTYPE_REAL32, 32, ATYPE_RO, acName700A_03, 0x00000000, &Obj.EncoderIn.Position}, - {0x04, DTYPE_REAL32, 32, ATYPE_RO, acName700A_04, 0x00000000, &Obj.EncoderIn.Frequency}, -}; -const _objd SDO7012[] = -{ - {0x0, DTYPE_UNSIGNED8, 8, ATYPE_RO | ATYPE_RXPDO, acName7012, 0, &Obj.EncIndexLatchEnable}, + {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x00000000, &Obj.Voltage}, }; const _objectlist SDOobjects[] = @@ -441,7 +409,7 @@ const _objectlist SDOobjects[] = {0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009}, {0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A}, {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018}, - {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600}, + {0x1600, OTYPE_RECORD, 2, 0, acName1600, SDO1600}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601}, {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602}, {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603}, @@ -451,16 +419,14 @@ const _objectlist SDOobjects[] = {0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607}, {0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608}, {0x1609, OTYPE_RECORD, 1, 0, acName1609, SDO1609}, - {0x160A, OTYPE_RECORD, 4, 0, acName160A, SDO160A}, + {0x160A, OTYPE_RECORD, 1, 0, acName160A, SDO160A}, {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00}, - {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01}, + {0x1A01, OTYPE_RECORD, 4, 0, acName1A01, SDO1A01}, {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02}, {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03}, {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04}, {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05}, {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06}, - {0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07}, - {0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00}, {0x1C12, OTYPE_ARRAY, 11, 0, acName1C12, SDO1C12}, {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13}, @@ -474,15 +440,13 @@ const _objectlist SDOobjects[] = {0x2007, OTYPE_VAR, 0, 0, acName2007, SDO2007}, {0x2008, OTYPE_VAR, 0, 0, acName2008, SDO2008}, {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000}, - {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001}, + {0x6001, OTYPE_RECORD, 4, 0, acName6001, SDO6001}, {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002}, {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003}, {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004}, {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005}, {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006}, - {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007}, - {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008}, - {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000}, + {0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002}, {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003}, @@ -492,6 +456,6 @@ const _objectlist SDOobjects[] = {0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007}, {0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008}, {0x7009, OTYPE_VAR, 0, 0, acName7009, SDO7009}, - {0x700A, OTYPE_RECORD, 4, 0, acName700A, SDO700A}, + {0x700A, OTYPE_VAR, 0, 0, acName700A, SDO700A}, {0xffff, 0xff, 0xff, 0xff, NULL, NULL} }; diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h index 531027f..fd838a4 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h @@ -13,19 +13,27 @@ typedef struct /* Inputs */ - float EncPosition; - float EncVelocity; + float FrequencyCounterFrequency; + struct + { + uint8_t IndexStatus; + uint8_t IndexByte; + float Position; + float Velocity; + } EncoderIn; uint8_t Input8; float ActualPosition1; float ActualPosition2; float ActualPosition3; float ActualPosition4; - uint32_t IndexByte; - uint32_t IndexStatus; /* Outputs */ - float EncScale; + struct + { + uint8_t IndexLatchEnable; + float Scale; + } EncoderOut; uint8_t Output4; uint8_t Enable1; uint8_t Enable2; @@ -35,13 +43,7 @@ typedef struct float CommandedPosition2; float CommandedPosition3; float CommandedPosition4; - struct - { - uint8_t IndexStatus; - uint8_t IndexByte; - float Position; - float Frequency; - } EncoderIn; + float Voltage; /* Parameters */ diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp index 125f59e..14b3c7c 100755 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp @@ -1,3 +1,4 @@ +// EaserCAT 3000 #include #include extern "C" @@ -16,7 +17,7 @@ HardwareSerial Serial1(PA10, PA9); ////// Digital IO const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15}; const byte OUTPUTS[4] = {PC5, PB0, PB1, PE7}; -//const byte THCAD_PIN = PA2; // CAN BE PA0, should be PA0 + #define bitset(byte, nbit) ((byte) |= (1 << (nbit))) #define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit))) #define bitflip(byte, nbit) ((byte) ^= (1 << (nbit))) @@ -82,9 +83,9 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation { for (int i = 0; i < 4; i++) digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW); - // analogWrite(DAC1_pin, Obj.Voltage); - Encoder1.setLatch(Obj.EncIndexLatchEnable); - Encoder1.setScale(Obj.EncScale); + analogWrite(DAC1_pin, Obj.Voltage); + Encoder1.setLatch(Obj.EncoderOut.IndexLatchEnable); + Encoder1.setScale(Obj.EncoderOut.Scale); posScale1 = Obj.StepsPerMM1; // Scale perhaps changed posScale2 = Obj.StepsPerMM2; @@ -109,8 +110,8 @@ void cb_set_outputs(void) // Get Master outputs, slave inputs, first operation void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation { float scale = 1; - if (Obj.EncScale != 0.0) - scale = Obj.EncScale; + if (Obj.EncoderOut.Scale != 0.0) + scale = Obj.EncoderOut.Scale; for (int i = 0; i < 8; i++) if (digitalRead(INPUTS[i]) == HIGH) @@ -118,10 +119,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation else bitClear(Obj.Input8, i); - Obj.IndexStatus = Encoder1.indexHappened(); - Obj.EncPosition = Encoder1.currentPos(); - Obj.IndexByte = Encoder1.getIndexState(); - Obj.EncVelocity = Obj.EncScale * Encoder1.frequency(longTime.extendTime(micros())); + Obj.EncoderIn.IndexStatus = Encoder1.indexHappened(); + Obj.EncoderIn.Position = Encoder1.currentPos(); + Obj.EncoderIn.IndexByte = Encoder1.getIndexState(); + Obj.EncoderIn.Velocity = Obj.EncoderOut.Scale * Encoder1.frequency(longTime.extendTime(micros())); Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal index b954f88..70c1ba3 100644 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal @@ -21,16 +21,16 @@ addf lcec.write-all servo-thread net emc-enable => iocontrol.0.emc-enable-in sets emc-enable 1 -net x-enable joint.0.amp-enable-out lcec.0.E3000.enable1-0 -net x-pos-cmd joint.0.motor-pos-cmd lcec.0.E3000.commandedPosition1 -net x-pos-fb joint.0.motor-pos-fb lcec.0.E3000.actualPosition1 +net x-enable joint.0.amp-enable-out lcec.0.E3000.Enable1-0 +net x-pos-cmd joint.0.motor-pos-cmd lcec.0.E3000.CommandedPosition1 +net x-pos-fb joint.0.motor-pos-fb lcec.0.E3000.ActualPosition1 -net y-enable joint.1.amp-enable-out lcec.0.E3000.enable2-0 -net y-pos-cmd joint.1.motor-pos-cmd lcec.0.E3000.commandedPosition2 -net y-pos-fb joint.1.motor-pos-fb lcec.0.E3000.actualPosition2 +net y-enable joint.1.amp-enable-out lcec.0.E3000.Enable2-0 +net y-pos-cmd joint.1.motor-pos-cmd lcec.0.E3000.CommandedPosition2 +net y-pos-fb joint.1.motor-pos-fb lcec.0.E3000.ActualPosition2 -net z-enable joint.2.amp-enable-out lcec.0.E3000.enable3-0 -net z-pos-cmd joint.2.motor-pos-cmd lcec.0.E3000.commandedPosition3 -net z-pos-fb joint.2.motor-pos-fb lcec.0.E3000.actualPosition3 +net z-enable joint.2.amp-enable-out lcec.0.E3000.Enable3-0 +net z-pos-cmd joint.2.motor-pos-cmd lcec.0.E3000.CommandedPosition3 +net z-pos-fb joint.2.motor-pos-fb lcec.0.E3000.ActualPosition3 diff --git a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/ethercat-conf.xml b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/ethercat-conf.xml index 40ce515..9412275 100644 --- a/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/ethercat-conf.xml +++ b/Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/ethercat-conf.xml @@ -11,83 +11,85 @@ + - - + + + - + - - + + - - + + - - + + - - + + - - + + - - + + - - + + - - + + - - - - - + + - - + + - - + + + + + - + - + - + - + - +