igh ethercat程序汇川示例

以下是汇川EtherCAT控制器的示例程序，用于控制伺服驱动器：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "EcatFunction.h"
#include "SystemDefine.h"

#define EC_TIMEOUTMON 500

int main(int argc, char *argv[])
{
    int cycle_init = 0, slv_num, slave;
    unsigned int i, j;
    char *ifname;
    int expectedWKC;
    int oloop, iloop, iodepth;
    int run, chk, oob;
    unsigned int ob;
    unsigned int obcnt;
    unsigned int obtimeout;
    int ix;

    // 初始化EtherCAT主站
    if (argc > 1)
        ifname = argv[1];
    else
        ifname = (char*)"eth0";
    if (argc > 2)
        cycle_init = atoi(argv[2]);

    if (ec_init(ifname))
    {
        printf("EtherCAT initialized failed.\n");
        return 0;
    }
    printf("EtherCAT initialized success.\n");

    if (cycle_init)
        ec_config_init(FALSE);

    // 扫描所有从站
    ec_config_map(&IOmap);
    ec_configdc();

    // 输出从站数量
    slv_num = ec_slavecount;
    printf("Slaves found : %d\n", slv_num);

    // 输出所有从站的信息
    for (i = 1; i <= ec_slavecount; i++)
    {
        printf("Slave %d\n", i);
        printf("\tVendor: %s\n", ec_slave[i].eep_man);
        printf("\tProduct: %s\n", ec_slave[i].eep_id);
        printf("\tRevision: %s\n", ec_slave[i].eep_rev);
        printf("\tPosition: %d\n", ec_slave[i].position);
        printf("\tName: %s\n", ec_slave[i].name);
        printf("\tOutputs: %d bytes (%d bits)\n", ec_slave[i].Obits / 8, ec_slave[i].Obits);
        printf("\tInputs: %d bytes (%d bits)\n", ec_slave[i].Ibits / 8, ec_slave[i].Ibits);
        printf("\tState: %d\n", ec_slave[i].state);
        printf("\tDelay (ns): %d\n", ec_slave[i].pdelay);
    }

    // 使能所有从站
    ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
    if (ec_slave[0].state != EC_STATE_SAFE_OP)
    {
        printf("Not all slaves reached safe operational state.\n");
        ec_readstate();
        for (i = 1; i <= ec_slavecount; i++)
        {
            if (ec_slave[i].state != EC_STATE_SAFE_OP)
            {
                printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
            }
        }
    }
    else
    {
        printf("All slaves reached safe operational state.\n");
    }

    // 运行主循环
    run = TRUE;
    for (iloop = 0; iloop < 1000000 && run; iloop++)
    {
        ec_send_processdata();
        wkc = ec_receive_processdata(EC_TIMEOUTRET);
        ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);

        // 读取从站状态
        chk = 0;
        for (slave = 1; slave <= ec_slavecount; slave++)
        {
            if (ec_slave[slave].state != EC_STATE_SAFE_OP)
            {
                printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", slave, ec_slave[slave].state, ec_slave[slave].ALstatuscode, ec_ALstatuscode2string(ec_slave[slave].ALstatuscode));
                chk = 1;
            }
        }
        if (chk)
        {
            printf("EtherCAT is down!\n");
            run = FALSE;
            continue;
        }

        // 写入数据到从站
        oob = 0;
        obtimeout = 0;
        obcnt = 0;
        for (slave = 1; slave <= ec_slavecount; slave++)
        {
            if (ec_slave[slave].outputs > 0)
            {
                if (oob == 0)
                {
                    printf("Requesting OP\n");
                    ec_send_processdata();
                    oob = 1;
                }
                ob = ec_slave[slave].outputs;
                obcnt += ob;
                ec_send_slave(slave, &ob, sizeof(ob));
            }
        }
        if (oob)
        {
            expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
            if (wkc < expectedWKC)
            {
                printf("Calculated workcounter %d, expected %d\n", wkc, expectedWKC);
            }
            ec_receive_processdata(EC_TIMEOUTRET);
            oob = 0;
        }

        // 读取数据从从站
        iodepth = 0;
        for (slave = 1; slave <= ec_slavecount; slave++)
        {
            if (ec_slave[slave].inputs > 0)
            {
                iodepth += ec_slave[slave].inputs;
                ec_receive_slave(slave, &ib, sizeof(ib));
                printf("Slave %d Input Byte: %d\n", slave, ib);
            }
        }
    }

    // 关闭EtherCAT主站
    ec_close();
    printf("End of Program\n");
    return (0);
}

这个示例程序使用了 EtherCAT主站API(EC-Master API) 库，包括了 EtherCAT 主站的配置、扫描从站、使能从站、发送和接收数据等操作。您需要根据实际情况修改配置和数据处理部分的代码。