AX58100

I followed your advice. 
 
 
and enable 
 
Create new esi, connect pdo 

Create a new config and find the pin command inside Hal.
 
I get response in encfrequenry when I spin the motor
And there is response in encpos but not perfect. When I don't set scale, the encpos number will change up and down but not much.
When I set scale, the encpos value will become decimal as shown in the picture.

What should I do next?
 

You should enter problem-solving mode and try to solve it image missing /media/kunena/emoticons/smile.png

First, verify that the encoder as such works and gives the right values.
Check schematics and hardware setup since you use your own pcb. A and B must go in to PA0 and PA1. They electric signal must be NPN open collector. Use interface circuitry if needed.

Check that it counts up and down using the debugger.
Add a line first in loop() Use this a breakpoint and watch that pos changes value as you rotate the encoder shaft.
Read up on debugger usage if you haven't used it before. But it is basically just to start it with Run -> Start debugging and then single step into or single step over and watch values in the left column.



 

I think so too. For the circuit I designed AB, I am PA0 PA1, will check the signal to be NPN again.
 

Is this part enabled correct?

Is this setScale value to be enabled or not? Or use the value from RXPDO 0x7000 "Scale"

But don't work in linuxcnc when there is a problem. First, work in the MCU so you eliminate many steps that can be wrong. And use the debugger.

Leave the scale statement commented out. It is set to 1.0 in the class as default.
When you set it to 2000, there are 2000 per revolution, or 500 pulses. One revolution is 1.0. Set scale to 1.0 to see every step more easily.

If it does count up and down, it works, doesn't it. What exactly doesn't work?

When the motor shaft rotates, the steps are counted in the encpos but not continuously. I am short-circuiting without passing TXS0108EPWR to test again.

Now I unplug the TXS0108EPWR and connect it directly to mcu with R1.5k pull up to 5V. it work 

I can find the counting up when the motor shaft is rotated, but sometimes when I let go of the rotation the numbers will continue to count until the shaft is rotated again.
Another problem is that the numbers will only count one way even when the motor is rotated in reverse direction. This may be due to a faulty Z phase for the index. I am investigating further.