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Added SDO for basePeriod, PDOs for scale, enable, maxAccel. All got default values in ESI

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This commit is contained in:
Hakan Bastedt
2025-02-23 20:40:11 +01:00
parent 8726aff1f8
commit eced221b35
10 changed files with 393 additions and 2300 deletions
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225
Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/Firmware/lib/soes-esi/esi.json
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@@ -1,10 +1,10 @@
{
"form": {
"VendorName": "MetalMusings",
"VendorID": "0xaaa",
"ProductCode": "0xcadcae",
"VendorID": "0xd0bed1d0",
"ProductCode": "0x3000",
"ProfileNo": "5002",
"RevisionNumber": "0x001",
"RevisionNumber": "0x002",
"SerialNumber": "0x001",
"HWversion": "0.0.1",
"SWversion": "0.0.1",
@@ -15,10 +15,10 @@
"SM2Offset": "0x1600",
"SM3Offset": "0x1A00",
"TextGroupType": "MachineControl",
"TextGroupName5": "Plasma torch reader",
"TextGroupName5": "CNC control",
"ImageName": "IMGCBY",
"TextDeviceType": "THCAD Reader ax58100",
"TextDeviceName": "MetalMusings EaserCAT 3000 test plasma torch reader",
"TextDeviceType": "CNC control",
"TextDeviceName": "MetalMusings EaserCAT 3000",
"Port0Physical": "Y",
"Port1Physical": "Y",
"Port2Physical": " ",
@@ -34,6 +34,15 @@
},
"od": {
"sdo": {
"2000": {
"otype": "VAR",
"name": "BasePeriod",
"access": "RW",
"dtype": "UNSIGNED32",
"value": "20000",
"isSDOitem": true,
"data": "&Obj.BasePeriod"
},
"A": {
"otype": "RECORD",
"name": "Error Settings",
@@ -73,60 +82,6 @@
"data": "&Obj.Velocity"
},
"6001": {
"otype": "ARRAY",
"name": "Inputs",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "IN1",
"data": "&Obj.Inputs[0]",
"value": "0"
},
{
"name": "IN2",
"value": "0",
"data": "&Obj.Inputs[1]"
},
{
"name": "IN3",
"value": "0",
"data": "&Obj.Inputs[2]"
},
{
"name": "IN4",
"value": "0",
"data": "&Obj.Inputs[3]"
},
{
"name": "IN5",
"value": "0",
"data": "&Obj.Inputs[4]"
},
{
"name": "IN6",
"value": "0",
"data": "&Obj.Inputs[5]"
},
{
"name": "IN7",
"value": "0",
"data": "&Obj.Inputs[6]"
},
{
"name": "IN8",
"value": "0",
"data": "&Obj.Inputs[7]"
}
],
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8"
},
"6002": {
"otype": "VAR",
"name": "Frequency",
"access": "RO",
@@ -137,6 +92,17 @@
"value": "0",
"data": "&Obj.Frequency"
},
"6002": {
"otype": "VAR",
"name": "Input8",
"access": "RO",
"pdo_mappings": [
"txpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Input8"
},
"6003": {
"otype": "VAR",
"name": "ActualPosition1",
@@ -191,42 +157,19 @@
"rxpdo"
],
"dtype": "REAL32",
"value": "0",
"value": "1",
"data": "&Obj.Scale"
},
"7001": {
"otype": "ARRAY",
"name": "Outputs",
"otype": "VAR",
"name": "Output4",
"access": "RO",
"items": [
{
"name": "Max SubIndex"
},
{
"name": "OUT1",
"data": "&Obj.Outputs[0]",
"value": "0"
},
{
"name": "OUT2",
"value": "0",
"data": "&Obj.Outputs[1]"
},
{
"name": "OUT3",
"value": "0",
"data": "&Obj.Outputs[2]"
},
{
"name": "OUT4",
"value": "0",
"data": "&Obj.Outputs[3]"
}
],
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8"
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Output4"
},
"7002": {
"otype": "VAR",
@@ -279,8 +222,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM1"
},
"7007": {
@@ -290,8 +233,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM2"
},
"7008": {
@@ -301,8 +244,8 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM3"
},
"7009": {
@@ -312,10 +255,32 @@
"pdo_mappings": [
"rxpdo"
],
"dtype": "INTEGER32",
"value": "0",
"dtype": "REAL32",
"value": "100",
"data": "&Obj.StepsPerMM4"
},
"7010": {
"otype": "VAR",
"name": "Enable3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable3"
},
"7011": {
"otype": "VAR",
"name": "Enable4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable4"
},
"60664": {
"otype": "VAR",
"name": "ActualPosition",
@@ -325,6 +290,72 @@
],
"dtype": "INTEGER32",
"value": "0"
},
"700D": {
"otype": "VAR",
"name": "MaxAcceleration4",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration4"
},
"700C": {
"otype": "VAR",
"name": "MaxAcceleration3",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration3"
},
"700E": {
"otype": "VAR",
"name": "Enable1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable1"
},
"700F": {
"otype": "VAR",
"name": "Enable2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "UNSIGNED8",
"value": "0",
"data": "&Obj.Enable2"
},
"700A": {
"otype": "VAR",
"name": "MaxAcceleration1",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration1"
},
"700B": {
"otype": "VAR",
"name": "MaxAcceleration2",
"access": "RO",
"pdo_mappings": [
"rxpdo"
],
"dtype": "REAL32",
"value": "10000",
"data": "&Obj.MaxAcceleration2"
}
}
},