AX58100

I am using the card designed by Hakan and it does not have a driver to make the differential encoder input. I have not tested the index yet, I have only tested the encoder with one that does not have an index pin. In the next few days I will try to test it with one that does have one.

COFHAL wrote:

I am using the card designed by Hakan and it does not have a driver to make the differential encoder input. I have not tested the index yet, I have only tested the encoder with one that does not have an index pin. In the next few days I will try to test it with one that does have one.

OK.

I connected an encoder that has index, but I don't see any activity regarding that pin.

The Index signal is short, in EtherCAT it is only one servo cycle long so you will most likely miss it, or the linuxcnc tools will miss it. Unless you happen to position the encoder exactly where the index signal is, then you can see it on the IndexByte.
Use halscope to watch the index signal in linuxcnc. Set sample time short enough to capture all data.

I understand the speed, it's hard to see the index pulse.
What I don't understand is when an index is detected, how does your encoder command element change the state?
For example:
Obj.IndexStatus = Encoder1.indexHappened();
Checks if an index pulse has occurred (uses the indexPulseFired variable).
If it has, it returns 1 and resets the state.

Obj.IndexByte = Encoder1.getIndexState();
Reads the digital value of the index pin directly (0 or 1).
Used to check the current state of the index signal.

This information, even monitoring with Twincat, does not detect any.

I am now starting to practice debugging and serial monitoring.

And next I think I will try EaserCAT-2000 with AX58100, but it is still difficult to change from LAN9295 to AX58100 with the original firmware of EaserCAT-2000.

You can also add a PDO just for debugging, I had several of those during development.
Just to assign Obj.D1 = interesting_value and watch that value.
An alternative to the index shift is to have a counter counting up when the callback happens, there is
actually one already in my code "encCnt" which increments every time the index callback is called.
Just quickly checked in the debugger, here the callback is triggered when index passes by.