igh ethercat 松下MADLN15BE代码示例

以下是一个简单的示例代码，用于在 EtherCAT 上控制松下 MADLN15BE 伺服驱动器。

#include <stdio.h>
#include "ethercat.h"

#define MADLN15BE_SLAVE_ID 0x0001
#define MADLN15BE_CONTROLWORD_OFFSET 0x6040
#define MADLN15BE_STATUSWORD_OFFSET 0x6041
#define MADLN15BE_MODES_OF_OPERATION_OFFSET 0x6060
#define MADLN15BE_TARGET_POSITION_OFFSET 0x607A
#define MADLN15BE_PROFILE_VELOCITY_OFFSET 0x6081
#define MADLN15BE_PROFILE_ACCELERATION_OFFSET 0x6083

int main()
{
    int slave_count;
    int slaves_online;
    int madln15be_index;
    int32_t target_position;
    uint16_t controlword;
    uint16_t statusword;
    uint16_t modes_of_operation;
    uint32_t profile_velocity;
    uint32_t profile_acceleration;

    printf("Initializing EtherCAT master...\n");
    ec_init("eth0");

    printf("Detecting slaves...\n");
    slave_count = ec_slavecount();
    printf("Found %d slaves.\n", slave_count);

    printf("Requesting OP state for all slaves...\n");
    ec_statecheck(0, EC_STATE_INIT, EC_TIMEOUTSTATE);

    printf("Checking slave states...\n");
    slaves_online = ec_slave[0].outputs[0];
    printf("%d/%d slaves are online.\n", slaves_online, slave_count);

    printf("Searching for MADLN15BE slave...\n");
    for (int i = 1; i <= slave_count; i++) {
        if (ec_slave[i].eep_man == 0x00000C && ec_slave[i].eep_id == 0x00C200) {
            madln15be_index = i;
            printf("MADLN15BE found at index %d.\n", madln15be_index);
            break;
        }
    }

    if (madln15be_index == 0) {
        printf("MADLN15BE not found.\n");
        return 1;
    }

    printf("Setting MADLN15BE to OP state...\n");
    ec_slave[madln15be_index].state = EC_STATE_OPERATIONAL;
    ec_writestate(madln15be_index);

    printf("Waiting for MADLN15BE to reach OP state...\n");
    ec_statecheck(madln15be_index, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);

    printf("Setting MADLN15BE to cyclic synchronous position mode...\n");
    modes_of_operation = 8;
    ec_SDOwrite(madln15be_index, MADLN15BE_MODES_OF_OPERATION_OFFSET, 0, 16, &modes_of_operation, EC_TIMEOUTSAFE);

    printf("Setting MADLN15BE target position...\n");
    target_position = 100000;
    ec_SDOwrite(madln15be_index, MADLN15BE_TARGET_POSITION_OFFSET, 0, 32, &target_position, EC_TIMEOUTSAFE);

    printf("Setting MADLN15BE profile velocity...\n");
    profile_velocity = 10000;
    ec_SDOwrite(madln15be_index, MADLN15BE_PROFILE_VELOCITY_OFFSET, 0, 32, &profile_velocity, EC_TIMEOUTSAFE);

    printf("Setting MADLN15BE profile acceleration...\n");
    profile_acceleration = 1000000;
    ec_SDOwrite(madln15be_index, MADLN15BE_PROFILE_ACCELERATION_OFFSET, 0, 32, &profile_acceleration, EC_TIMEOUTSAFE);

    printf("Starting MADLN15BE motion...\n");
    controlword = 0x000F;
    ec_SDOwrite(madln15be_index, MADLN15BE_CONTROLWORD_OFFSET, 0, 16, &controlword, EC_TIMEOUTSAFE);

    while (1) {
        ec_readstate();
        statusword = ec_slave[madln15be_index].inputs[0];
        if (statusword & 0x400) {
            printf("MADLN15BE reached target position.\n");
            break;
        }
    }

    printf("Stopping MADLN15BE motion...\n");
    controlword = 0x010F;
    ec_SDOwrite(madln15be_index, MADLN15BE_CONTROLWORD_OFFSET, 0, 16, &controlword, EC_TIMEOUTSAFE);

    printf("Setting MADLN15BE to pre-op state...\n");
    ec_slave[madln15be_index].state = EC_STATE_PRE_OP;
    ec_writestate(madln15be_index);

    printf("Shutting down EtherCAT master...\n");
    ec_close();

    return 0;
}

注意：这只是一个示例代码，实际的应用程序需要根据具体的硬件和应用场景进行修改和优化。此外，使用 EtherCAT 和伺服驱动器需要一定的专业知识和技能，需要谨慎使用并确保安全。