igh ethercat 雷赛L7EC程序代码示例
时间: 2023-08-24 19:10:06 浏览: 264
以下是一个简单的EtherCAT通信示例程序,使用雷赛L7EC EtherCAT模块:
```c
#include <stdio.h>
#include <unistd.h>
#include "ecrt.h"
#define ECAT_MASTER_IF "eth0"
#define VENDOR_ID 0x0000066F
#define PRODUCT_CODE 0x00000001
#define ALIAS 0x01
#define POSITION 0
int main()
{
ec_master_t *master = NULL;
ec_master_info_t master_info;
ec_domain_t *domain = NULL;
ec_slave_config_t *slave = NULL;
ec_slave_config_state_t state = {};
uint8_t *domain_pd = NULL;
int ret;
// 初始化EtherCAT主机
ret = ecrt_master_init();
if (ret) {
printf("Failed to initialize EtherCAT master.\n");
return ret;
}
// 获取主机信息
ret = ecrt_master_info(0, &master_info);
if (ret) {
printf("Failed to get master info.\n");
goto cleanup;
}
printf("Master: %s\n", master_info.name);
// 创建EtherCAT主机接口
ret = ecrt_master_open(&master, ECAT_MASTER_IF);
if (ret) {
printf("Failed to open master interface.\n");
goto cleanup;
}
// 查找EtherCAT从站
slave = ecrt_master_slave_config_search(master, VENDOR_ID, PRODUCT_CODE);
if (!slave) {
printf("Failed to find slave.\n");
goto cleanup;
}
// 创建EtherCAT从站配置
ret = ecrt_slave_config_create(slave, &state);
if (ret) {
printf("Failed to create slave configuration.\n");
goto cleanup;
}
// 设置EtherCAT从站配置
ecrt_slave_config_set_state(slave, &state);
// 注册EtherCAT通信域
domain = ecrt_master_create_domain(master, 0, EC_DOMAIN_FLAGS_DEFAULT);
if (!domain) {
printf("Failed to create domain.\n");
goto cleanup;
}
// 启动EtherCAT主机
ret = ecrt_master_activate(master);
if (ret) {
printf("Failed to activate master.\n");
goto cleanup;
}
// 获取EtherCAT通信域数据指针
domain_pd = ecrt_domain_data(domain);
// 读取从站状态字
uint16_t status_word = 0;
ecrt_slave_config_pdos(slave, 0, NULL, 1);
ecrt_domain_queue(domain);
ecrt_master_receive(master);
status_word = EC_READ_U16(domain_pd + slave->outputs[0].offset);
// 输出从站状态字
printf("Status word: 0x%04X\n", status_word);
cleanup:
// 停止EtherCAT主机
ecrt_master_deactivate(master);
// 销毁EtherCAT通信域
ecrt_master_drop(master);
// 删除从站配置
ecrt_slave_config_destroy(slave);
// 关闭EtherCAT主机接口
ecrt_master_close(master);
// 反初始化EtherCAT主机
ecrt_master_finalize();
return ret;
}
```
该示例程序中包含了初始化EtherCAT主机、查找EtherCAT从站、创建EtherCAT从站配置、注册EtherCAT通信域、激活EtherCAT主机、读取从站状态字等步骤。需要根据具体的EtherCAT设备和应用场景进行相应的修改。
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