igh ethercat台达程序代码示例
时间: 2023-08-25 08:05:49 浏览: 135
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。
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