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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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654
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/MetalMusings_EaserCAT_3000.xml
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@@ -77,7 +77,7 @@
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1600</Name> <Name>DT1600</Name>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -90,7 +90,7 @@
</SubItem> </SubItem>
<SubItem> <SubItem>
<SubIdx>1</SubIdx> <SubIdx>1</SubIdx>
<Name>EncScale</Name> <Name>IndexLatchEnable</Name>
<Type>UDINT</Type> <Type>UDINT</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
@@ -98,6 +98,16 @@
<Access>ro</Access> <Access>ro</Access>
</Flags> </Flags>
</SubItem> </SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Scale</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1601</Name> <Name>DT1601</Name>
@@ -317,6 +327,54 @@
</DataType> </DataType>
<DataType> <DataType>
<Name>DT160A</Name> <Name>DT160A</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Voltage</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>FrequencyCounterFrequency</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A01</Name>
<BitSize>144</BitSize> <BitSize>144</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
@@ -360,7 +418,7 @@
</SubItem> </SubItem>
<SubItem> <SubItem>
<SubIdx>4</SubIdx> <SubIdx>4</SubIdx>
<Name>Frequency</Name> <Name>Velocity</Name>
<Type>UDINT</Type> <Type>UDINT</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<BitOffs>112</BitOffs> <BitOffs>112</BitOffs>
@@ -369,78 +427,6 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1612</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>EncIndexLatchEnable</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>EncPosition</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A01</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>EncVelocity</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1A02</Name> <Name>DT1A02</Name>
<BitSize>48</BitSize> <BitSize>48</BitSize>
@@ -561,54 +547,6 @@
</Flags> </Flags>
</SubItem> </SubItem>
</DataType> </DataType>
<DataType>
<Name>DT1A07</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A08</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
</DataType>
<DataType> <DataType>
<Name>DT1C00ARR</Name> <Name>DT1C00ARR</Name>
<BaseType>USINT</BaseType> <BaseType>USINT</BaseType>
@@ -676,15 +614,15 @@
<DataType> <DataType>
<Name>DT1C13ARR</Name> <Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType> <BaseType>UINT</BaseType>
<BitSize>144</BitSize> <BitSize>112</BitSize>
<ArrayInfo> <ArrayInfo>
<LBound>1</LBound> <LBound>1</LBound>
<Elements>9</Elements> <Elements>7</Elements>
</ArrayInfo> </ArrayInfo>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT1C13</Name> <Name>DT1C13</Name>
<BitSize>160</BitSize> <BitSize>128</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
@@ -698,7 +636,7 @@
<SubItem> <SubItem>
<Name>Elements</Name> <Name>Elements</Name>
<Type>DT1C13ARR</Type> <Type>DT1C13ARR</Type>
<BitSize>144</BitSize> <BitSize>112</BitSize>
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access>ro</Access> <Access>ro</Access>
@@ -706,7 +644,7 @@
</SubItem> </SubItem>
</DataType> </DataType>
<DataType> <DataType>
<Name>DT700A</Name> <Name>DT6001</Name>
<BitSize>96</BitSize> <BitSize>96</BitSize>
<SubItem> <SubItem>
<SubIdx>0</SubIdx> <SubIdx>0</SubIdx>
@@ -726,7 +664,7 @@
<BitOffs>16</BitOffs> <BitOffs>16</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -737,7 +675,7 @@
<BitOffs>24</BitOffs> <BitOffs>24</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -748,15 +686,51 @@
<BitOffs>32</BitOffs> <BitOffs>32</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</SubItem> </SubItem>
<SubItem> <SubItem>
<SubIdx>4</SubIdx> <SubIdx>4</SubIdx>
<Name>Frequency</Name> <Name>Velocity</Name>
<Type>REAL</Type> <Type>REAL</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<BitOffs>64</BitOffs> <BitOffs>64</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT7000</Name>
<BitSize>56</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Max SubIndex</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>IndexLatchEnable</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Scale</Name>
<Type>REAL</Type>
<BitSize>32</BitSize>
<BitOffs>24</BitOffs>
<Flags> <Flags>
<Access WriteRestrictions="PreOP">ro</Access> <Access WriteRestrictions="PreOP">ro</Access>
<PdoMapping>R</PdoMapping> <PdoMapping>R</PdoMapping>
@@ -881,20 +855,26 @@
</Object> </Object>
<Object> <Object>
<Index>#x1600</Index> <Index>#x1600</Index>
<Name>EncScale</Name> <Name>EncoderOut</Name>
<Type>DT1600</Type> <Type>DT1600</Type>
<BitSize>48</BitSize> <BitSize>80</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>1</DefaultValue> <DefaultValue>2</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>EncScale</Name> <Name>IndexLatchEnable</Name>
<Info> <Info>
<DefaultValue>#x70000020</DefaultValue> <DefaultValue>#x70000108</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Scale</Name>
<Info>
<DefaultValue>#x70000220</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -1101,8 +1081,52 @@
</Object> </Object>
<Object> <Object>
<Index>#x160A</Index> <Index>#x160A</Index>
<Name>EncoderIn</Name> <Name>Voltage</Name>
<Type>DT160A</Type> <Type>DT160A</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Voltage</Name>
<Info>
<DefaultValue>#x700A0020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>FrequencyCounterFrequency</Name>
<Type>DT1A00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>FrequencyCounterFrequency</Name>
<Info>
<DefaultValue>#x60000020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A01</Index>
<Name>EncoderIn</Name>
<Type>DT1A01</Type>
<BitSize>144</BitSize> <BitSize>144</BitSize>
<Info> <Info>
<SubItem> <SubItem>
@@ -1114,91 +1138,25 @@
<SubItem> <SubItem>
<Name>IndexStatus</Name> <Name>IndexStatus</Name>
<Info> <Info>
<DefaultValue>#x700A0108</DefaultValue> <DefaultValue>#x60010108</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>IndexByte</Name> <Name>IndexByte</Name>
<Info> <Info>
<DefaultValue>#x700A0208</DefaultValue> <DefaultValue>#x60010208</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>Position</Name> <Name>Position</Name>
<Info> <Info>
<DefaultValue>#x700A0320</DefaultValue> <DefaultValue>#x60010320</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
<Name>Frequency</Name> <Name>Velocity</Name>
<Info> <Info>
<DefaultValue>#x700A0420</DefaultValue> <DefaultValue>#x60010420</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1612</Index>
<Name>EncIndexLatchEnable</Name>
<Type>DT1612</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>EncIndexLatchEnable</Name>
<Info>
<DefaultValue>#x70120008</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A00</Index>
<Name>EncPosition</Name>
<Type>DT1A00</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>EncPosition</Name>
<Info>
<DefaultValue>#x60000020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A01</Index>
<Name>EncVelocity</Name>
<Type>DT1A01</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>EncVelocity</Name>
<Info>
<DefaultValue>#x60010020</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
</Info> </Info>
@@ -1315,50 +1273,6 @@
<Flags> <Flags>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x1A07</Index>
<Name>IndexByte</Name>
<Type>DT1A07</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexByte</Name>
<Info>
<DefaultValue>#x60070020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object>
<Index>#x1A08</Index>
<Name>IndexStatus</Name>
<Type>DT1A08</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>1</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexStatus</Name>
<Info>
<DefaultValue>#x60080020</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags>
</Flags>
</Object>
<Object> <Object>
<Index>#x1C00</Index> <Index>#x1C00</Index>
<Name>Sync Manager Communication Type</Name> <Name>Sync Manager Communication Type</Name>
@@ -1485,12 +1399,12 @@
<Index>#x1C13</Index> <Index>#x1C13</Index>
<Name>Sync Manager 3 PDO Assignment</Name> <Name>Sync Manager 3 PDO Assignment</Name>
<Type>DT1C13</Type> <Type>DT1C13</Type>
<BitSize>160</BitSize> <BitSize>128</BitSize>
<Info> <Info>
<SubItem> <SubItem>
<Name>Max SubIndex</Name> <Name>Max SubIndex</Name>
<Info> <Info>
<DefaultValue>9</DefaultValue> <DefaultValue>7</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem> <SubItem>
@@ -1535,18 +1449,6 @@
<DefaultValue>#x1A06</DefaultValue> <DefaultValue>#x1A06</DefaultValue>
</Info> </Info>
</SubItem> </SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A07</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>PDO Mapping</Name>
<Info>
<DefaultValue>#x1A08</DefaultValue>
</Info>
</SubItem>
</Info> </Info>
<Flags> <Flags>
</Flags> </Flags>
@@ -1661,7 +1563,7 @@
</Object> </Object>
<Object> <Object>
<Index>#x6000</Index> <Index>#x6000</Index>
<Name>EncPosition</Name> <Name>FrequencyCounterFrequency</Name>
<Type>REAL</Type> <Type>REAL</Type>
<BitSize>32</BitSize> <BitSize>32</BitSize>
<Info> <Info>
@@ -1674,15 +1576,42 @@
</Object> </Object>
<Object> <Object>
<Index>#x6001</Index> <Index>#x6001</Index>
<Name>EncVelocity</Name> <Name>EncoderIn</Name>
<Type>REAL</Type> <Type>DT6001</Type>
<BitSize>32</BitSize> <BitSize>96</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexStatus</Name>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
</SubItem>
<SubItem>
<Name>IndexByte</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Position</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Velocity</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags> <Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object> <Object>
@@ -1750,43 +1679,32 @@
<PdoMapping>T</PdoMapping> <PdoMapping>T</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object>
<Index>#x6007</Index>
<Name>IndexByte</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x6008</Index>
<Name>IndexStatus</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
<Flags>
<Access>ro</Access>
<PdoMapping>T</PdoMapping>
</Flags>
</Object>
<Object> <Object>
<Index>#x7000</Index> <Index>#x7000</Index>
<Name>EncScale</Name> <Name>EncoderOut</Name>
<Type>REAL</Type> <Type>DT7000</Type>
<BitSize>32</BitSize> <BitSize>56</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>2</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexLatchEnable</Name>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
</SubItem>
<SubItem>
<Name>Scale</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags> <Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags> </Flags>
</Object> </Object>
<Object> <Object>
@@ -1908,42 +1826,15 @@
</Object> </Object>
<Object> <Object>
<Index>#x700A</Index> <Index>#x700A</Index>
<Name>EncoderIn</Name> <Name>Voltage</Name>
<Type>DT700A</Type> <Type>REAL</Type>
<BitSize>96</BitSize> <BitSize>32</BitSize>
<Info>
<SubItem>
<Name>Max SubIndex</Name>
<Info>
<DefaultValue>4</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>IndexStatus</Name>
<Info> <Info>
<DefaultValue>0</DefaultValue> <DefaultValue>0</DefaultValue>
</Info> </Info>
</SubItem>
<SubItem>
<Name>IndexByte</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Position</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
<SubItem>
<Name>Frequency</Name>
<Info>
<DefaultValue>0</DefaultValue>
</Info>
</SubItem>
</Info>
<Flags> <Flags>
<Access>ro</Access>
<PdoMapping>R</PdoMapping>
</Flags> </Flags>
</Object> </Object>
</Objects> </Objects>
@@ -1958,12 +1849,19 @@
<Sm StartAddress="#x1A00" ControlByte="#x20" Enable="1">Inputs</Sm> <Sm StartAddress="#x1A00" ControlByte="#x20" Enable="1">Inputs</Sm>
<RxPdo Fixed="true" Mandatory="true" Sm="2"> <RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x1600</Index> <Index>#x1600</Index>
<Name>EncScale</Name> <Name>EncoderOut</Name>
<Entry> <Entry>
<Index>#x7000</Index> <Index>#x7000</Index>
<SubIndex>#x0</SubIndex> <SubIndex>#x1</SubIndex>
<BitLen>8</BitLen>
<Name>IndexLatchEnable</Name>
<DataType>USINT</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>#x2</SubIndex>
<BitLen>32</BitLen> <BitLen>32</BitLen>
<Name>EncScale</Name> <Name>Scale</Name>
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
</RxPdo> </RxPdo>
@@ -2068,55 +1966,55 @@
</RxPdo> </RxPdo>
<RxPdo Fixed="true" Mandatory="true" Sm="2"> <RxPdo Fixed="true" Mandatory="true" Sm="2">
<Index>#x160A</Index> <Index>#x160A</Index>
<Name>EncoderIn</Name> <Name>Voltage</Name>
<Entry> <Entry>
<Index>#x700A</Index> <Index>#x700A</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>Voltage</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>FrequencyCounterFrequency</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>FrequencyCounterFrequency</Name>
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A01</Index>
<Name>EncoderIn</Name>
<Entry>
<Index>#x6001</Index>
<SubIndex>#x1</SubIndex> <SubIndex>#x1</SubIndex>
<BitLen>8</BitLen> <BitLen>8</BitLen>
<Name>IndexStatus</Name> <Name>IndexStatus</Name>
<DataType>USINT</DataType> <DataType>USINT</DataType>
</Entry> </Entry>
<Entry> <Entry>
<Index>#x700A</Index> <Index>#x6001</Index>
<SubIndex>#x2</SubIndex> <SubIndex>#x2</SubIndex>
<BitLen>8</BitLen> <BitLen>8</BitLen>
<Name>IndexByte</Name> <Name>IndexByte</Name>
<DataType>USINT</DataType> <DataType>USINT</DataType>
</Entry> </Entry>
<Entry> <Entry>
<Index>#x700A</Index> <Index>#x6001</Index>
<SubIndex>#x3</SubIndex> <SubIndex>#x3</SubIndex>
<BitLen>32</BitLen> <BitLen>32</BitLen>
<Name>Position</Name> <Name>Position</Name>
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
<Entry> <Entry>
<Index>#x700A</Index> <Index>#x6001</Index>
<SubIndex>#x4</SubIndex> <SubIndex>#x4</SubIndex>
<BitLen>32</BitLen> <BitLen>32</BitLen>
<Name>Frequency</Name> <Name>Velocity</Name>
<DataType>REAL</DataType>
</Entry>
</RxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A00</Index>
<Name>EncPosition</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>EncPosition</Name>
<DataType>REAL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A01</Index>
<Name>EncVelocity</Name>
<Entry>
<Index>#x6001</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>EncVelocity</Name>
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
@@ -2175,30 +2073,8 @@
<DataType>REAL</DataType> <DataType>REAL</DataType>
</Entry> </Entry>
</TxPdo> </TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A07</Index>
<Name>IndexByte</Name>
<Entry>
<Index>#x6007</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexByte</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="true" Mandatory="true" Sm="3">
<Index>#x1A08</Index>
<Name>IndexStatus</Name>
<Entry>
<Index>#x6008</Index>
<SubIndex>#x0</SubIndex>
<BitLen>32</BitLen>
<Name>IndexStatus</Name>
<DataType>UDINT</DataType>
</Entry>
</TxPdo>
<Mailbox DataLinkLayer="true"> <Mailbox DataLinkLayer="true">
<CoE SdoInfo="true" PdoAssign="true" PdoConfig="true" PdoUpload="true" CompleteAccess="true" /> <CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
</Mailbox> </Mailbox>
<Dc> <Dc>
<OpMode> <OpMode>

4
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/ecat_options.h
View File

@@ -33,8 +33,8 @@
#define SM3_smc 0x20 #define SM3_smc 0x20
#define SM3_act 1 #define SM3_act 1
#define MAX_MAPPINGS_SM2 14 #define MAX_MAPPINGS_SM2 12
#define MAX_MAPPINGS_SM3 7 #define MAX_MAPPINGS_SM3 10
#define MAX_RXPDO_SIZE 512 #define MAX_RXPDO_SIZE 512
#define MAX_TXPDO_SIZE 512 #define MAX_TXPDO_SIZE 512

BIN
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.bin
View File

Binary file not shown.

2
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/eeprom.hex
View File

@@ -4,7 +4,7 @@
:20006000000000000000000000000000000000000000000000000000000000000F00010070 :20006000000000000000000000000000000000000000000000000000000000000F00010070
:200080000A001F00040B434E4320636F6E74726F6C0E4D616368696E65436F6E74726F6C8F :200080000A001F00040B434E4320636F6E74726F6C0E4D616368696E65436F6E74726F6C8F
:2000A00006494D474342591A4D6574616C4D7573696E677320456173657243415420333021 :2000A00006494D474342591A4D6574616C4D7573696E677320456173657243415420333021
:2000C00030301E00100002030104003F000000000000000000001100000000000000000038 :2000C00030301E001000020301040013000000000000000000001100000000000000000064
:2000E000000000000000280002000102030029001000001000022600010100120002220027 :2000E000000000000000280002000102030029001000001000022600010100120002220027
:2001000001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFFFFFF6D :2001000001020016000024000103001A000020000104FFFFFFFFFFFFFFFFFFFFFFFFFFFF6D
:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF :20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF

138
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
View File

@@ -144,25 +144,55 @@
}, },
"6000": { "6000": {
"otype": "VAR", "otype": "VAR",
"name": "EncPosition", "name": "FrequencyCounterFrequency",
"access": "RO", "access": "RO",
"pdo_mappings": [ "pdo_mappings": [
"txpdo" "txpdo"
], ],
"dtype": "REAL32", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.EncPosition" "data": "&Obj.FrequencyCounterFrequency"
}, },
"6001": { "6001": {
"otype": "VAR", "otype": "RECORD",
"name": "EncVelocity", "name": "EncoderIn",
"access": "RO", "access": "RO",
"pdo_mappings": [ "items": [
"txpdo" {
], "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", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.EncVelocity" "access": "RO",
"data": "&Obj.EncoderIn.Position"
},
{
"name": "Velocity",
"dtype": "REAL32",
"value": "0",
"access": "RO",
"data": "&Obj.EncoderIn.Velocity"
}
],
"pdo_mappings": [
"txpdo"
]
}, },
"6002": { "6002": {
"otype": "VAR", "otype": "VAR",
@@ -218,41 +248,35 @@
"dtype": "REAL32", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.ActualPosition4" "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": { "rxpdo": {
"7000": { "7000": {
"otype": "VAR", "otype": "RECORD",
"name": "EncScale", "name": "EncoderOut",
"access": "RO", "access": "RO",
"pdo_mappings": [ "items": [
"rxpdo" {
], "name": "Max SubIndex"
},
{
"name": "IndexLatchEnable",
"dtype": "UNSIGNED8",
"data": "&Obj.EncoderOut.IndexLatchEnable",
"value": "0",
"access": "RO"
},
{
"name": "Scale",
"dtype": "REAL32", "dtype": "REAL32",
"value": "0", "value": "0",
"data": "&Obj.EncScale" "access": "RO",
"data": "&Obj.EncoderOut.Scale"
}
],
"pdo_mappings": [
"rxpdo"
]
}, },
"7001": { "7001": {
"otype": "VAR", "otype": "VAR",
@@ -364,45 +388,15 @@
"value": "0" "value": "0"
}, },
"700A": { "700A": {
"otype": "RECORD", "otype": "VAR",
"name": "EncoderIn", "name": "Voltage",
"access": "RO", "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": [ "pdo_mappings": [
"rxpdo" "rxpdo"
] ],
"dtype": "REAL32",
"value": "0",
"data": "&Obj.Voltage"
} }
} }
}, },

138
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/objectlist.c
View File

@@ -13,9 +13,10 @@ static const char acName1018_01[] = "Vendor ID";
static const char acName1018_02[] = "Product Code"; static const char acName1018_02[] = "Product Code";
static const char acName1018_03[] = "Revision Number"; static const char acName1018_03[] = "Revision Number";
static const char acName1018_04[] = "Serial 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_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[] = "Output4";
static const char acName1601_00[] = "Max SubIndex"; static const char acName1601_00[] = "Max SubIndex";
static const char acName1601_01[] = "Output4"; 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[] = "CommandedPosition4";
static const char acName1609_00[] = "Max SubIndex"; static const char acName1609_00[] = "Max SubIndex";
static const char acName1609_01[] = "CommandedPosition4"; 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_00[] = "Max SubIndex";
static const char acName160A_01[] = "IndexStatus"; static const char acName160A_01[] = "Voltage";
static const char acName160A_02[] = "IndexByte"; static const char acName1A00[] = "FrequencyCounterFrequency";
static const char acName160A_03[] = "Position";
static const char acName160A_04[] = "Frequency";
static const char acName1A00[] = "Velocity";
static const char acName1A00_00[] = "Max SubIndex"; static const char acName1A00_00[] = "Max SubIndex";
static const char acName1A00_01[] = "EncPosition"; static const char acName1A00_01[] = "FrequencyCounterFrequency";
static const char acName1A01[] = "EncVelocity"; static const char acName1A01[] = "EncoderIn";
static const char acName1A01_00[] = "Max SubIndex"; 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[] = "Input8";
static const char acName1A02_00[] = "Max SubIndex"; static const char acName1A02_00[] = "Max SubIndex";
static const char acName1A02_01[] = "Input8"; 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[] = "ActualPosition4";
static const char acName1A06_00[] = "Max SubIndex"; static const char acName1A06_00[] = "Max SubIndex";
static const char acName1A06_01[] = "ActualPosition4"; 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[] = "Sync Manager Communication Type";
static const char acName1C00_00[] = "Max SubIndex"; static const char acName1C00_00[] = "Max SubIndex";
static const char acName1C00_01[] = "Communications Type SM0"; 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_05[] = "PDO Mapping";
static const char acName1C13_06[] = "PDO Mapping"; static const char acName1C13_06[] = "PDO Mapping";
static const char acName1C13_07[] = "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 acName2000[] = "BasePeriod";
static const char acName2001[] = "StepsPerMM1"; static const char acName2001[] = "StepsPerMM1";
static const char acName2002[] = "StepsPerMM2"; static const char acName2002[] = "StepsPerMM2";
@@ -115,16 +108,22 @@ static const char acName2005[] = "MaxAcceleration1";
static const char acName2006[] = "MaxAcceleration2"; static const char acName2006[] = "MaxAcceleration2";
static const char acName2007[] = "MaxAcceleration3"; static const char acName2007[] = "MaxAcceleration3";
static const char acName2008[] = "MaxAcceleration4"; static const char acName2008[] = "MaxAcceleration4";
static const char acName6000[] = "Velocity"; static const char acName6000[] = "FrequencyCounterFrequency";
static const char acName6001[] = "Frequency"; 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 acName6002[] = "Input8";
static const char acName6003[] = "ActualPosition1"; static const char acName6003[] = "ActualPosition1";
static const char acName6004[] = "ActualPosition2"; static const char acName6004[] = "ActualPosition2";
static const char acName6005[] = "ActualPosition3"; static const char acName6005[] = "ActualPosition3";
static const char acName6006[] = "ActualPosition4"; static const char acName6006[] = "ActualPosition4";
static const char acName6007[] = "IndexByte"; static const char acName7000[] = "EncoderOut";
static const char acName6008[] = "IndexStatus"; static const char acName7000_00[] = "Max SubIndex";
static const char acName7000[] = "EncScale"; static const char acName7000_01[] = "IndexLatchEnable";
static const char acName7000_02[] = "Scale";
static const char acName7001[] = "Output4"; static const char acName7001[] = "Output4";
static const char acName7002[] = "Enable1"; static const char acName7002[] = "Enable1";
static const char acName7003[] = "Enable2"; static const char acName7003[] = "Enable2";
@@ -134,12 +133,7 @@ static const char acName7006[] = "CommandedPosition1";
static const char acName7007[] = "CommandedPosition2"; static const char acName7007[] = "CommandedPosition2";
static const char acName7008[] = "CommandedPosition3"; static const char acName7008[] = "CommandedPosition3";
static const char acName7009[] = "CommandedPosition4"; static const char acName7009[] = "CommandedPosition4";
static const char acName700A[] = "EncoderIn"; static const char acName700A[] = "Voltage";
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";
const _objd SDO1000[] = const _objd SDO1000[] =
{ {
@@ -167,8 +161,9 @@ const _objd SDO1018[] =
}; };
const _objd SDO1600[] = const _objd SDO1600[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 2, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000108, NULL},
{0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_02, 0x70000220, NULL},
}; };
const _objd SDO1601[] = const _objd SDO1601[] =
{ {
@@ -217,16 +212,8 @@ const _objd SDO1609[] =
}; };
const _objd SDO160A[] = const _objd SDO160A[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName160A_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0108, NULL}, {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName160A_01, 0x700A0020, 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},
}; };
const _objd SDO1A00[] = const _objd SDO1A00[] =
{ {
@@ -235,8 +222,11 @@ const _objd SDO1A00[] =
}; };
const _objd SDO1A01[] = const _objd SDO1A01[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 4, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, 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[] = const _objd SDO1A02[] =
{ {
@@ -263,16 +253,6 @@ const _objd SDO1A06[] =
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
{0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, 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[] = const _objd SDO1C00[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL}, {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -298,7 +278,7 @@ const _objd SDO1C12[] =
}; };
const _objd SDO1C13[] = 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}, {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
{0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL}, {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
{0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, 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}, {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
{0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL}, {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
{0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, 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[] = const _objd SDO2000[] =
{ {
@@ -347,11 +325,15 @@ const _objd SDO2008[] =
}; };
const _objd SDO6000[] = 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[] = 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[] = const _objd SDO6002[] =
{ {
@@ -373,17 +355,11 @@ const _objd SDO6006[] =
{ {
{0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition4}, {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[] = 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[] = const _objd SDO7001[] =
{ {
@@ -423,15 +399,7 @@ const _objd SDO7009[] =
}; };
const _objd SDO700A[] = const _objd SDO700A[] =
{ {
{0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName700A_00, 4, NULL}, {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName700A, 0x00000000, &Obj.Voltage},
{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},
}; };
const _objectlist SDOobjects[] = const _objectlist SDOobjects[] =
@@ -441,7 +409,7 @@ const _objectlist SDOobjects[] =
{0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009}, {0x1009, OTYPE_VAR, 0, 0, acName1009, SDO1009},
{0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A}, {0x100A, OTYPE_VAR, 0, 0, acName100A, SDO100A},
{0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018}, {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}, {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
{0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602}, {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
{0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603}, {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
@@ -451,16 +419,14 @@ const _objectlist SDOobjects[] =
{0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607}, {0x1607, OTYPE_RECORD, 1, 0, acName1607, SDO1607},
{0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608}, {0x1608, OTYPE_RECORD, 1, 0, acName1608, SDO1608},
{0x1609, OTYPE_RECORD, 1, 0, acName1609, SDO1609}, {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}, {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}, {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
{0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03}, {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
{0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04}, {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
{0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05}, {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
{0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06}, {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}, {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
{0x1C12, OTYPE_ARRAY, 11, 0, acName1C12, SDO1C12}, {0x1C12, OTYPE_ARRAY, 11, 0, acName1C12, SDO1C12},
{0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13}, {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
@@ -474,15 +440,13 @@ const _objectlist SDOobjects[] =
{0x2007, OTYPE_VAR, 0, 0, acName2007, SDO2007}, {0x2007, OTYPE_VAR, 0, 0, acName2007, SDO2007},
{0x2008, OTYPE_VAR, 0, 0, acName2008, SDO2008}, {0x2008, OTYPE_VAR, 0, 0, acName2008, SDO2008},
{0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000}, {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}, {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
{0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003}, {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
{0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004}, {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
{0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005}, {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
{0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006}, {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
{0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007}, {0x7000, OTYPE_RECORD, 2, 0, acName7000, SDO7000},
{0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
{0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
{0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001}, {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
{0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002}, {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
{0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003}, {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
@@ -492,6 +456,6 @@ const _objectlist SDOobjects[] =
{0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007}, {0x7007, OTYPE_VAR, 0, 0, acName7007, SDO7007},
{0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008}, {0x7008, OTYPE_VAR, 0, 0, acName7008, SDO7008},
{0x7009, OTYPE_VAR, 0, 0, acName7009, SDO7009}, {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} {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
}; };

26
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/utypes.h
View File

@@ -13,19 +13,27 @@ typedef struct
/* Inputs */ /* Inputs */
float EncPosition; float FrequencyCounterFrequency;
float EncVelocity; struct
{
uint8_t IndexStatus;
uint8_t IndexByte;
float Position;
float Velocity;
} EncoderIn;
uint8_t Input8; uint8_t Input8;
float ActualPosition1; float ActualPosition1;
float ActualPosition2; float ActualPosition2;
float ActualPosition3; float ActualPosition3;
float ActualPosition4; float ActualPosition4;
uint32_t IndexByte;
uint32_t IndexStatus;
/* Outputs */ /* Outputs */
float EncScale; struct
{
uint8_t IndexLatchEnable;
float Scale;
} EncoderOut;
uint8_t Output4; uint8_t Output4;
uint8_t Enable1; uint8_t Enable1;
uint8_t Enable2; uint8_t Enable2;
@@ -35,13 +43,7 @@ typedef struct
float CommandedPosition2; float CommandedPosition2;
float CommandedPosition3; float CommandedPosition3;
float CommandedPosition4; float CommandedPosition4;
struct float Voltage;
{
uint8_t IndexStatus;
uint8_t IndexByte;
float Position;
float Frequency;
} EncoderIn;
/* Parameters */ /* Parameters */

21
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/src/main.cpp
View File

@@ -1,3 +1,4 @@
// EaserCAT 3000
#include <Arduino.h> #include <Arduino.h>
#include <stdio.h> #include <stdio.h>
extern "C" extern "C"
@@ -16,7 +17,7 @@ HardwareSerial Serial1(PA10, PA9);
////// Digital IO ////// Digital IO
const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15}; const byte INPUTS[8] = {PE8, PE9, PE10, PE11, PE12, PE13, PE14, PE15};
const byte OUTPUTS[4] = {PC5, PB0, PB1, PE7}; 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 bitset(byte, nbit) ((byte) |= (1 << (nbit)))
#define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit))) #define bitclear(byte, nbit) ((byte) &= ~(1 << (nbit)))
#define bitflip(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++) for (int i = 0; i < 4; i++)
digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW); digitalWrite(OUTPUTS[i], bitcheck(Obj.Output4, i) ? HIGH : LOW);
// analogWrite(DAC1_pin, Obj.Voltage); analogWrite(DAC1_pin, Obj.Voltage);
Encoder1.setLatch(Obj.EncIndexLatchEnable); Encoder1.setLatch(Obj.EncoderOut.IndexLatchEnable);
Encoder1.setScale(Obj.EncScale); Encoder1.setScale(Obj.EncoderOut.Scale);
posScale1 = Obj.StepsPerMM1; // Scale perhaps changed posScale1 = Obj.StepsPerMM1; // Scale perhaps changed
posScale2 = Obj.StepsPerMM2; 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 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
{ {
float scale = 1; float scale = 1;
if (Obj.EncScale != 0.0) if (Obj.EncoderOut.Scale != 0.0)
scale = Obj.EncScale; scale = Obj.EncoderOut.Scale;
for (int i = 0; i < 8; i++) for (int i = 0; i < 8; i++)
if (digitalRead(INPUTS[i]) == HIGH) if (digitalRead(INPUTS[i]) == HIGH)
@@ -118,10 +119,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
else else
bitClear(Obj.Input8, i); bitClear(Obj.Input8, i);
Obj.IndexStatus = Encoder1.indexHappened(); Obj.EncoderIn.IndexStatus = Encoder1.indexHappened();
Obj.EncPosition = Encoder1.currentPos(); Obj.EncoderIn.Position = Encoder1.currentPos();
Obj.IndexByte = Encoder1.getIndexState(); Obj.EncoderIn.IndexByte = Encoder1.getIndexState();
Obj.EncVelocity = Obj.EncScale * Encoder1.frequency(longTime.extendTime(micros())); Obj.EncoderIn.Velocity = Obj.EncoderOut.Scale * Encoder1.frequency(longTime.extendTime(micros()));
Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb; Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb; Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;

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 net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1 sets emc-enable 1
net x-enable joint.0.amp-enable-out lcec.0.E3000.enable1-0 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-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-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-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-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-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-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-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-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--> <!--MetalMusings EaserCAT 3000-->
<syncManager idx="0" dir="in"/> <syncManager idx="0" dir="in"/>
<syncManager idx="1" dir="out"/> <syncManager idx="1" dir="out"/>
<syncManager idx="2" dir="out"> <syncManager idx="2" dir="out">
<pdo idx="1600"> <pdo idx="1600">
<!--Scale--> <!--EncoderOut-->
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="scale" halType="float-ieee"/> <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>
<pdo idx="1601"> <pdo idx="1601">
<!--Output4--> <!--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>
<pdo idx="1602"> <pdo idx="1602">
<!--CommandedPosition1--> <!--Enable1-->
<pdoEntry idx="7002" subIdx="00" bitLen="8" halPin="enable1" halType="bit"/> <pdoEntry idx="7002" subIdx="00" bitLen="8" halPin="Enable1" halType="bit"/>
</pdo> </pdo>
<pdo idx="1603"> <pdo idx="1603">
<!--CommandedPosition2--> <!--Enable2-->
<pdoEntry idx="7003" subIdx="00" bitLen="8" halPin="enable2" halType="bit"/> <pdoEntry idx="7003" subIdx="00" bitLen="8" halPin="Enable2" halType="bit"/>
</pdo> </pdo>
<pdo idx="1604"> <pdo idx="1604">
<!--CommandedPosition3--> <!--Enable3-->
<pdoEntry idx="7004" subIdx="00" bitLen="8" halPin="enable3" halType="bit"/> <pdoEntry idx="7004" subIdx="00" bitLen="8" halPin="Enable3" halType="bit"/>
</pdo> </pdo>
<pdo idx="1605"> <pdo idx="1605">
<!--CommandedPosition4--> <!--Enable4-->
<pdoEntry idx="7005" subIdx="00" bitLen="8" halPin="enable4" halType="bit"/> <pdoEntry idx="7005" subIdx="00" bitLen="8" halPin="Enable4" halType="bit"/>
</pdo> </pdo>
<pdo idx="1606"> <pdo idx="1606">
<!--Enable1--> <!--CommandedPosition1-->
<pdoEntry idx="7006" subIdx="00" bitLen="32" halPin="commandedPosition1" halType="float-ieee"/> <pdoEntry idx="7006" subIdx="00" bitLen="32" halPin="CommandedPosition1" halType="float-ieee"/>
</pdo> </pdo>
<pdo idx="1607"> <pdo idx="1607">
<!--Enable2--> <!--CommandedPosition2-->
<pdoEntry idx="7007" subIdx="00" bitLen="32" halPin="commandedPosition2" halType="float-ieee"/> <pdoEntry idx="7007" subIdx="00" bitLen="32" halPin="CommandedPosition2" halType="float-ieee"/>
</pdo> </pdo>
<pdo idx="1608"> <pdo idx="1608">
<!--Enable3--> <!--CommandedPosition3-->
<pdoEntry idx="7008" subIdx="00" bitLen="32" halPin="commandedPosition3" halType="float-ieee"/> <pdoEntry idx="7008" subIdx="00" bitLen="32" halPin="CommandedPosition3" halType="float-ieee"/>
</pdo> </pdo>
<pdo idx="1609"> <pdo idx="1609">
<!--Enable4--> <!--CommandedPosition4-->
<pdoEntry idx="7009" subIdx="00" bitLen="32" halPin="commandedPosition4" halType="float-ieee"/> <pdoEntry idx="7009" subIdx="00" bitLen="32" halPin="CommandedPosition4" halType="float-ieee"/>
</pdo> </pdo>
<pdo idx="160a"> <pdo idx="160a">
<!--EncoderIn--> <!--Voltage-->
<pdoEntry idx="700a" subIdx="01" bitLen="8" halPin="indexstatus" halType="u32"/> <pdoEntry idx="700a" subIdx="00" bitLen="32" halPin="Voltage" halType="float-ieee"/>
<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"/>
</pdo> </pdo>
</syncManager> </syncManager>
<syncManager idx="3" dir="in"> <syncManager idx="3" dir="in">
<pdo idx="1a00"> <pdo idx="1a00">
<!--Velocity--> <!--FrequencyCounterFrequency-->
<pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="velocity" halType="float-ieee"/> <pdoEntry idx="6000" subIdx="00" bitLen="32" halPin="FrequencyCounterFrequency" halType="float-ieee"/>
</pdo> </pdo>
<pdo idx="1a01"> <pdo idx="1a01">
<!--Frequency--> <!--EncoderIn-->
<pdoEntry idx="6001" subIdx="00" bitLen="32" halPin="in-frequency" halType="float-ieee"/> <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>
<pdo idx="1a02"> <pdo idx="1a02">
<!--Input8--> <!--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>
<pdo idx="1a03"> <pdo idx="1a03">
<!--ActualPosition1--> <!--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>
<pdo idx="1a04"> <pdo idx="1a04">
<!--ActualPosition2--> <!--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>
<pdo idx="1a05"> <pdo idx="1a05">
<!--ActualPosition3--> <!--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>
<pdo idx="1a06"> <pdo idx="1a06">
<!--ActualPosition4--> <!--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> </pdo>
</syncManager> </syncManager>
</slave> </slave>