igh ethercat台达程序代码示例

以下是一个简单的 EtherCAT 台达程序代码示例：

#include "ecrt.h"

#define VENDOR_ID       0x1234
#define PRODUCT_CODE    0x5678

#define ESC_POS         0, 0

int main(int argc, char **argv)
{
    ec_master_t *master;
    ec_master_info_t master_info;
    ec_domain_t *domain;
    ec_slave_config_t *sc;
    ec_slave_config_state_t sc_state;
    ec_slave_info_t slave_info;
    uint16_t alias, position;
    uint32_t slave_count;
    int ret;

    // 初始化 EtherCAT 主控制器
    master = ecrt_request_master(0);
    if (!master) {
        printf("Failed to get EtherCAT master.\n");
        return -1;
    }

    // 获取 EtherCAT 主控制器信息
    ret = ecrt_master(master, &master_info);
    if (ret) {
        printf("Failed to get EtherCAT master info.\n");
        ecrt_release_master(master);
        return -1;
    }

    printf("EtherCAT master info:\n");
    printf("  Vendor ID:     0x%04X\n", master_info.vendor_id);
    printf("  Product code:  0x%04X\n", master_info.product_code);
    printf("  Name:          %s\n", master_info.name);
    printf("  Cycle time:    %d us\n", master_info.cycle_time_ns / 1000);

    // 扫描 EtherCAT 网络上的从设备
    ecrt_master_scan_bus(master, 0, NULL, &slave_count);
    printf("Found %d slaves on EtherCAT bus.\n", slave_count);

    // 遍历从设备并添加到主控制器
    alias = 0;
    position = 0;
    while ((sc = ecrt_master_get_slave(master, alias, position))) {
        // 获取从设备信息
        ret = ecrt_slave_config_read(sc, &slave_info);
        if (ret) {
            printf("Failed to get slave config info.\n");
            continue;
        }

        printf("Found slave:\n");
        printf("  Vendor ID:          0x%04X\n", slave_info.vendor_id);
        printf("  Product code:       0x%04X\n", slave_info.product_code);
        printf("  Revision number:    %d\n", slave_info.revision_number);
        printf("  Serial number:      %d\n", slave_info.serial_number);

        // 检查从设备是否符合要求
        if (slave_info.vendor_id != VENDOR_ID || slave_info.product_code != PRODUCT_CODE) {
            printf("Slave not supported.\n");
            continue;
        }

        // 添加从设备到主控制器
        ret = ecrt_master_slave_config_add(master, alias, position);
        if (ret < 0) {
            printf("Failed to add slave to master.\n");
            continue;
        }

        // 激活从设备配置
        ret = ecrt_slave_config_state(sc, EC_STATE_SAFE_OP, EC_TIMEOUTSAFE);
        if (ret < 0) {
            printf("Failed to set slave to safe op state.\n");
            continue;
        }

        // 检查从设备是否处于 SAFE OP 状态
        ret = ecrt_slave_config_state(sc, EC_STATE_SAFE_OP, EC_TIMEOUTSAFE);
        if (ret < 0) {
            printf("Failed to set slave to safe op state.\n");
            continue;
        }
        if (ret == EC_STATE_SAFE_OP) {
            printf("Slave is in SAFE OP state.\n");
        } else {
            printf("Slave is not in SAFE OP state.\n");
            continue;
        }

        // 获取从设备配置状态
        ret = ecrt_slave_config_state(sc, EC_STATE_CONFIGURED, EC_TIMEOUTSAFE);
        if (ret < 0) {
            printf("Failed to set slave to configured state.\n");
            continue;
        }
        if (ret == EC_STATE_CONFIGURED) {
            printf("Slave is in CONFIGURED state.\n");
        } else {
            printf("Slave is not in CONFIGURED state.\n");
            continue;
        }

        // 创建 EtherCAT 域
        domain = ecrt_master_create_domain(master);
        if (!domain) {
            printf("Failed to create EtherCAT domain.\n");
            break;
        }

        // 注册从设备的 I/O 映射
        ret = ecrt_domain_reg_pdo_entry(domain, ESC_POS, 0x6041, 0, &sc_state);
        if (ret < 0) {
            printf("Failed to register PDO entry.\n");
            break;
        }

        // 启动 EtherCAT 域
        ret = ecrt_domain_queue(domain);
        if (ret < 0) {
            printf("Failed to start EtherCAT domain.\n");
            break;
        }

        printf("EtherCAT configuration successful.\n");
        break;
    }

    // 释放 EtherCAT 主控制器
    ecrt_release_master(master);

    return 0;
}

请注意，这只是一个示例，实际应用中需要根据具体的硬件和软件架构进行修改和优化。