igh ethercat程序汇川步进代码示例

以下是汇川步进电机使用EtherCAT通讯控制的示例代码：

#include "ecrt.h"
#include <stdio.h>
#include <signal.h>
#include <unistd.h>

#define EC_TIMEOUTMON 500

#define VENDOR_ID       0x1d50
#define PRODUCT_CODE    0x60c0
#define POSITION_MODE   0x01
#define VELOCITY_MODE   0x03
#define PROFILE_POS_MODE 0x07

#define OPMODE_OFFSET   0x6060
#define OPMODE_SIZE     0x01
#define OPMODE_PROFILE_POS 0x01
#define OPMODE_HOMING   0x06
#define OPMODE_PROFILE_VELOCITY 0x03
#define OPMODE_INTERPOLATION_POS 0x0a

#define CONTROLWORD_OFFSET 0x6040
#define CONTROLWORD_SIZE   0x02
#define CONTROLWORD_SHUTDOWN    0x06
#define CONTROLWORD_SWITCH_ON   0x07
#define CONTROLWORD_DISABLE_VOLTAGE 0x00
#define CONTROLWORD_QUICK_STOP  0x02
#define CONTROLWORD_DISABLE_OPERATION 0x07
#define CONTROLWORD_ENABLE_OPERATION  0x0f

#define STATUSWORD_OFFSET  0x6041
#define STATUSWORD_SIZE    0x02
#define STATUSWORD_READY_TO_SWITCH_ON    0x0021
#define STATUSWORD_SWITCHED_ON           0x0023
#define STATUSWORD_OPERATION_ENABLED     0x0027
#define STATUSWORD_QUICK_STOP_ACTIVE     0x0007
#define STATUSWORD_FAULT                0x000f

#define TARGET_POS_OFFSET   0x607a
#define TARGET_POS_SIZE     0x04
#define TARGET_VELOCITY_OFFSET  0x60ff
#define TARGET_VELOCITY_SIZE    0x04
#define PROFILE_VELOCITY_OFFSET  0x6081
#define PROFILE_VELOCITY_SIZE    0x04
#define PROFILE_ACCELERATION_OFFSET 0x6083
#define PROFILE_ACCELERATION_SIZE   0x04
#define PROFILE_DECELERATION_OFFSET 0x6084
#define PROFILE_DECELERATION_SIZE   0x04
#define FOLLOWING_ERROR_OFFSET  0x60f4
#define FOLLOWING_ERROR_SIZE    0x04
#define DIGITAL_OUTPUT_OFFSET   0x2070
#define DIGITAL_OUTPUT_SIZE     0x01
#define DIGITAL_INPUT_OFFSET    0x2071
#define DIGITAL_INPUT_SIZE      0x01

#define MAXON_EPOS3_NAME "EPOS3"
#define MAXON_EPOS3_ALIAS "my_epos3"
#define MAXON_EPOS3_POSITION "position"

#define ECAT_CYCLE_TIME_NS  1000000

static volatile int run = 1;
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
static ec_slave_config_t *maxon_epos3 = NULL;
static ec_slave_config_state_t maxon_epos3_state = {};

void signal_handler(int signum)
{
    if (signum == SIGINT)
        run = 0;
}

int main(int argc, char **argv)
{
    if (ecrt_master_open(&master, "ETHERCAT_MASTER") != 0) {
        printf("Failed to open EtherCAT master.\n");
        return -1;
    }

    if (ecrt_master_get_state(master, &master_state) != 0) {
        printf("Failed to get master state.\n");
        return -1;
    }

    if (master_state.slaves_responding == 0) {
        printf("No slaves found on EtherCAT bus.\n");
        return -1;
    }

    domain1 = ecrt_master_create_domain(master, 1, 0);
    if (domain1 == NULL) {
        printf("Failed to create domain.\n");
        return -1;
    }

    maxon_epos3 = ecrt_master_slave_config(master, VENDOR_ID, PRODUCT_CODE);
    if (maxon_epos3 == NULL) {
        printf("Failed to get slave config.\n");
        return -1;
    }

    maxon_epos3->alias = MAXON_EPOS3_ALIAS;
    maxon_epos3->position = MAXON_EPOS3_POSITION;

    if (ecrt_slave_config_pdos(maxon_epos3, EC_END, maxon_epos3_syncs) != 0) {
        printf("Failed to configure PDOs.\n");
        return -1;
    }

    if (ecrt_domain_reg_pdo_entry_list(domain1, maxon_epos3_syncs)) {
        printf("Failed to register PDO entry list.\n");
        return -1;
    }

    if (ecrt_master_activate(master) != 0) {
        printf("Failed to activate master.\n");
        return -1;
    }

    printf("Initialization complete.\n");

    // Set operation mode to profile position mode
    uint8_t opmode = OPMODE_PROFILE_POS;
    if (ecrt_sdo_write(maxon_epos3, OPMODE_OFFSET, 0x00, OPMODE_SIZE, &opmode) != 0) {
        printf("Failed to set operation mode.\n");
        return -1;
    }

    // Set control word to switch on
    uint16_t controlword = CONTROLWORD_SWITCH_ON;
    if (ecrt_sdo_write(maxon_epos3, CONTROLWORD_OFFSET, 0x00, CONTROLWORD_SIZE, &controlword) != 0) {
        printf("Failed to set control word.\n");
        return -1;
    }

    signal(SIGINT, signal_handler);

    // Main loop
    int64_t cycle_count = 0;
    uint32_t target_pos = 100000;
    uint32_t target_velocity = 2000;
    uint32_t profile_velocity = 2000;
    uint32_t profile_acceleration = 5000;
    uint32_t profile_deceleration = 5000;
    uint32_t following_error = 0;
    uint8_t digital_output = 0;
    uint8_t digital_input = 0;

    while (run) {
        ecrt_master_receive(master);
        ecrt_domain_process(domain1);

        cycle_count++;

        if (cycle_count >= (1000000000 / ECAT_CYCLE_TIME_NS)) {
            cycle_count = 0;

            // Set target position
            if (ecrt_sdo_write(maxon_epos3, TARGET_POS_OFFSET, 0x00, TARGET_POS_SIZE, &target_pos) != 0) {
                printf("Failed to set target position.\n");
                return -1;
            }

            // Set target velocity
            if (ecrt_sdo_write(maxon_epos3, TARGET_VELOCITY_OFFSET, 0x00, TARGET_VELOCITY_SIZE, &target_velocity) != 0) {
                printf("Failed to set target velocity.\n");
                return -1;
            }

            // Set profile velocity
            if (ecrt_sdo_write(maxon_epos3, PROFILE_VELOCITY_OFFSET, 0x00, PROFILE_VELOCITY_SIZE, &profile_velocity) != 0) {
                printf("Failed to set profile velocity.\n");
                return -1;
            }

            // Set profile acceleration
            if (ecrt_sdo_write(maxon_epos3, PROFILE_ACCELERATION_OFFSET, 0x00, PROFILE_ACCELERATION_SIZE, &profile_acceleration) != 0) {
                printf("Failed to set profile acceleration.\n");
                return -1;
            }

            // Set profile deceleration
            if (ecrt_sdo_write(maxon_epos3, PROFILE_DECELERATION_OFFSET, 0x00, PROFILE_DECELERATION_SIZE, &profile_deceleration) != 0) {
                printf("Failed to set profile deceleration.\n");
                return -1;
            }

            // Read following error
            if (ecrt_sdo_read(maxon_epos3, FOLLOWING_ERROR_OFFSET, 0x00, FOLLOWING_ERROR_SIZE, &following_error) != 0) {
                printf("Failed to read following error.\n");
                return -1;
            }

            // Read digital output
            if (ecrt_sdo_read(maxon_epos3, DIGITAL_OUTPUT_OFFSET, 0x00, DIGITAL_OUTPUT_SIZE, &digital_output) != 0) {
                printf("Failed to read digital output.\n");
                return -1;
            }

            // Write digital input
            digital_input = !digital_output;
            if (ecrt_sdo_write(maxon_epos3, DIGITAL_INPUT_OFFSET, 0x00, DIGITAL_INPUT_SIZE, &digital_input) != 0) {
                printf("Failed to write digital input.\n");
                return -1;
            }

            // Read status word
            uint16_t statusword = 0;
            if (ecrt_sdo_read(maxon_epos3, STATUSWORD_OFFSET, 0x00, STATUSWORD_SIZE, &statusword) != 0) {
                printf("Failed to read status word.\n");
                return -1;
            }

            // Check status word
            if (statusword & STATUSWORD_FAULT) {
                printf("Fault detected.\n");
                run = 0;
            }
            else if ((statusword & STATUSWORD_SWITCHED_ON) && !(statusword & STATUSWORD_OPERATION_ENABLED)) {
                // Set control word to enable operation
                controlword = CONTROLWORD_ENABLE_OPERATION;
                if (ecrt_sdo_write(maxon_epos3, CONTROLWORD_OFFSET, 0x00, CONTROLWORD_SIZE, &controlword) != 0) {
                    printf("Failed to set control word.\n");
                    return -1;
                }
            }
            else if (statusword & STATUSWORD_OPERATION_ENABLED) {
                printf("Target position: %d, Following error: %d\n", target_pos, following_error);
            }
        }

        ecrt_domain_queue(domain1);
        ecrt_master_send(master);
        usleep(ECAT_CYCLE_TIME_NS / 1000);
    }

    // Set control word to shut down
    controlword = CONTROLWORD_SHUTDOWN;
    if (ecrt_sdo_write(maxon_epos3, CONTROLWORD_OFFSET, 0x00, CONTROLWORD_SIZE, &controlword) != 0) {
        printf("Failed to set control word.\n");
        return -1;
    }

    ecrt_master_deactivate(master);
    ecrt_master_close(master);

    return 0;
}

这是一个简单的示例程序，可以控制汇川步进电机进行位置控制。具体的功能和参数设置可以根据实际需要进行修改。