igh ethercat台达A2示例程序
时间: 2023-08-23 12:04:38 浏览: 124
以下是一个基本的 EtherCAT 示例程序,使用 Delta A2 伺服驱动器:
```c++
#include <iostream>
#include <string>
#include "ecrt.h"
#define ECAT_MASTER "EtherCAT Master"
#define VENDOR_ID_DELTA 0x00000611
#define PRODUCT_CODE_A2 0x00000002
#define POSITION_MODE 0x08
#define VELOCITY_MODE 0x09
using namespace std;
int main() {
// Initialize EtherCAT master
ec_master_t *master = ecrt_request_master(0);
if (!master) {
cout << "Failed to initialize EtherCAT master." << endl;
return 1;
}
// Find Delta A2 servo drive
ec_device_t *device = ecrt_master_find_device(master, VENDOR_ID_DELTA, PRODUCT_CODE_A2);
if (!device) {
cout << "Delta A2 servo drive not found." << endl;
return 1;
}
// Create a domain with one PDO entry
ec_domain_t *domain = ecrt_master_create_domain(master);
if (!domain) {
cout << "Failed to create EtherCAT domain." << endl;
return 1;
}
// Configure PDO entry
static const int32_t PDO_ENTRY_POSITION = 0x607A;
static const int32_t PDO_ENTRY_VELOCITY = 0x60FF;
static const int32_t PDO_ENTRY_MODE = 0x6060;
static const int32_t PDO_ENTRY_CONTROL_WORD = 0x6040;
ec_pdo_entry_info_t pdo_info[] = {
{PDO_ENTRY_POSITION, 0x00, 32},
{PDO_ENTRY_VELOCITY, 0x00, 32},
{PDO_ENTRY_MODE, 0x00, 16},
{PDO_ENTRY_CONTROL_WORD, 0x00, 16},
};
static const int32_t PDO_INDEX = 0x1600;
ec_pdo_info_t pdo_list[] = {
{PDO_INDEX, 4, pdo_info},
};
if (ecrt_master_slave_config(master, device->position, PDO_INDEX, pdo_list, EC_DIR_OUTPUT) < 0) {
cout << "Failed to configure EtherCAT PDOs." << endl;
return 1;
}
// Activate EtherCAT domain
if (ecrt_domain_reg_pdo_entry_list(domain, pdo_list) < 0) {
cout << "Failed to register PDO entry list." << endl;
return 1;
}
if (ecrt_master_activate(master) < 0) {
cout << "Failed to activate EtherCAT master." << endl;
return 1;
}
// Get PDO entry pointers
uint8_t *domain_data = (uint8_t*) ecrt_domain_data(domain);
uint32_t *position = (uint32_t*) (domain_data + ecrt_slave_config_reg_address(device->config_index, PDO_INDEX, 0x00));
uint32_t *velocity = (uint32_t*) (domain_data + ecrt_slave_config_reg_address(device->config_index, PDO_INDEX, 0x04));
uint16_t *mode = (uint16_t*) (domain_data + ecrt_slave_config_reg_address(device->config_index, PDO_INDEX, 0x08));
uint16_t *control_word = (uint16_t*) (domain_data + ecrt_slave_config_reg_address(device->config_index, PDO_INDEX, 0x0A));
// Enter position mode
*mode = POSITION_MODE;
*control_word = 0x06;
// Move to position
*position = 100000;
usleep(1000000);
*position = 0;
usleep(1000000);
// Enter velocity mode
*mode = VELOCITY_MODE;
*control_word = 0x06;
// Move at 5000 RPM
*velocity = 5000;
usleep(1000000);
*velocity = 0;
// Deactivate EtherCAT domain
if (ecrt_master_deactivate(master) < 0) {
cout << "Failed to deactivate EtherCAT master." << endl;
return 1;
}
// Release EtherCAT master
ecrt_release_master(master);
return 0;
}
```
这个程序主要完成以下操作:
- 初始化 EtherCAT 主控制器
- 查找 Delta A2 伺服驱动器
- 创建一个包含一个 PDO 条目的域
- 配置 PDO 条目
- 激活 EtherCAT 域
- 获取 PDO 条目指针
- 进入位置模式并移动到位置
- 进入速度模式并以 5000 RPM 移动
- 停用 EtherCAT 域
- 释放 EtherCAT 主控制器
请注意,此示例程序仅用于演示目的。实际实现可能需要更多的错误检查和异常处理。
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