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After testing, seems to work. Not tested: encoder,frequency,dac

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This commit is contained in:
Hakan Bastedt
2025-08-17 21:24:47 +02:00
parent 430eedd77d
commit dcce7b5375
10 changed files with 459 additions and 620 deletions
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140
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
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@@ -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"
}
]
}
}