igh ethercat台达A2示例程序

以下是一个基本的 EtherCAT 示例程序，使用 Delta A2 伺服驱动器：

#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。