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

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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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18
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/e3000.hal
View File

@@ -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

68
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/ethercat-conf.xml
View File

@@ -11,83 +11,85 @@
<!--MetalMusings EaserCAT 3000-->
<syncManager idx="0" dir="in"/>
<syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out">
<pdo idx="1600">
<!--Scale-->
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="scale" halType="float-ieee"/>
<!--EncoderOut-->
<pdoEntry idx="7000" subIdx="01" bitLen="8" halPin="IndexLatchEnable" halType="u32"/>
<pdoEntry idx="7000" subIdx="02" bitLen="32" halPin="Scale" halType="float-ieee"/>
</pdo>
<pdo idx="1601">
<!--Output4-->
<pdoEntry idx="7001" subIdx="00" bitLen="8" halPin="output4" halType="bit"/>
<pdoEntry idx="7001" subIdx="00" bitLen="8" halPin="Output4" halType="bit"/>
</pdo>
<pdo idx="1602">
<!--CommandedPosition1-->
<pdoEntry idx="7002" subIdx="00" bitLen="8" halPin="enable1" halType="bit"/>
<!--Enable1-->
<pdoEntry idx="7002" subIdx="00" bitLen="8" halPin="Enable1" halType="bit"/>
</pdo>
<pdo idx="1603">
<!--CommandedPosition2-->
<pdoEntry idx="7003" subIdx="00" bitLen="8" halPin="enable2" halType="bit"/>
<!--Enable2-->
<pdoEntry idx="7003" subIdx="00" bitLen="8" halPin="Enable2" halType="bit"/>
</pdo>
<pdo idx="1604">
<!--CommandedPosition3-->
<pdoEntry idx="7004" subIdx="00" bitLen="8" halPin="enable3" halType="bit"/>
<!--Enable3-->
<pdoEntry idx="7004" subIdx="00" bitLen="8" halPin="Enable3" halType="bit"/>
</pdo>
<pdo idx="1605">
<!--CommandedPosition4-->
<pdoEntry idx="7005" subIdx="00" bitLen="8" halPin="enable4" halType="bit"/>
<!--Enable4-->
<pdoEntry idx="7005" subIdx="00" bitLen="8" halPin="Enable4" halType="bit"/>
</pdo>
<pdo idx="1606">
<!--Enable1-->
<pdoEntry idx="7006" subIdx="00" bitLen="32" halPin="commandedPosition1" halType="float-ieee"/>
<!--CommandedPosition1-->
<pdoEntry idx="7006" subIdx="00" bitLen="32" halPin="CommandedPosition1" halType="float-ieee"/>
</pdo>
<pdo idx="1607">
<!--Enable2-->
<pdoEntry idx="7007" subIdx="00" bitLen="32" halPin="commandedPosition2" halType="float-ieee"/>
<!--CommandedPosition2-->
<pdoEntry idx="7007" subIdx="00" bitLen="32" halPin="CommandedPosition2" halType="float-ieee"/>
</pdo>
<pdo idx="1608">
<!--Enable3-->
<pdoEntry idx="7008" subIdx="00" bitLen="32" halPin="commandedPosition3" halType="float-ieee"/>
<!--CommandedPosition3-->
<pdoEntry idx="7008" subIdx="00" bitLen="32" halPin="CommandedPosition3" halType="float-ieee"/>
</pdo>
<pdo idx="1609">
<!--Enable4-->
<pdoEntry idx="7009" subIdx="00" bitLen="32" halPin="commandedPosition4" halType="float-ieee"/>
<!--CommandedPosition4-->
<pdoEntry idx="7009" subIdx="00" bitLen="32" halPin="CommandedPosition4" halType="float-ieee"/>
</pdo>
<pdo idx="160a">
<!--EncoderIn-->
<pdoEntry idx="700a" subIdx="01" bitLen="8" halPin="indexstatus" halType="u32"/>
<pdoEntry idx="700a" subIdx="02" bitLen="8" halPin="indexbyte" halType="u32"/>
<pdoEntry idx="700a" subIdx="03" bitLen="32" halPin="position" halType="float-ieee"/>
<pdoEntry idx="700a" subIdx="04" bitLen="32" halPin="out-frequency" halType="float-ieee"/>
<!--Voltage-->
<pdoEntry idx="700a" subIdx="00" bitLen="32" halPin="Voltage" halType="float-ieee"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<!--Velocity-->
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="velocity" halType="float-ieee"/>
<!--FrequencyCounterFrequency-->
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="FrequencyCounterFrequency" halType="float-ieee"/>
</pdo>
<pdo idx="1a01">
<!--Frequency-->
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="in-frequency" halType="float-ieee"/>
<!--EncoderIn-->
<pdoEntry idx="6001" subIdx="01" bitLen="8" halPin="IndexStatus" halType="u32"/>
<pdoEntry idx="6001" subIdx="02" bitLen="8" halPin="IndexByte" halType="u32"/>
<pdoEntry idx="6001" subIdx="03" bitLen="32" halPin="Position" halType="float-ieee"/>
<pdoEntry idx="6001" subIdx="04" bitLen="32" halPin="Pelocity" halType="float-ieee"/>
</pdo>
<pdo idx="1a02">
<!--Input8-->
<pdoEntry idx="6002" subIdx="00" bitLen="8" halPin="input8" halType="bit"/>
<pdoEntry idx="6002" subIdx="00" bitLen="8" halPin="Input8" halType="bit"/>
</pdo>
<pdo idx="1a03">
<!--ActualPosition1-->
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="actualPosition1" halType="float-ieee"/>
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="ActualPosition1" halType="float-ieee"/>
</pdo>
<pdo idx="1a04">
<!--ActualPosition2-->
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="actualPosition2" halType="float-ieee"/>
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="ActualPosition2" halType="float-ieee"/>
</pdo>
<pdo idx="1a05">
<!--ActualPosition3-->
<pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="actualPosition3" halType="float-ieee"/>
<pdoEntry idx="6005" subIdx="00" bitLen="32" halPin="ActualPosition3" halType="float-ieee"/>
</pdo>
<pdo idx="1a06">
<!--ActualPosition4-->
<pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="actualPosition4" halType="float-ieee"/>
<pdoEntry idx="6006" subIdx="00" bitLen="32" halPin="ActualPosition4" halType="float-ieee"/>
</pdo>
</syncManager>
</slave>