igh ethercat雷赛步进例程

以下是使用EtherCAT总线控制雷赛步进电机的简单示例代码：

#include <ethercat.h>
#include <stdio.h>

#define NUM_OF_SLAVES 1
#define POS_MODE 0x08    // Set to position mode
#define MAX_POS 200000   // Maximum position

uint8_t inbuf[32*NUM_OF_SLAVES];
uint8_t outbuf[32*NUM_OF_SLAVES];

int main(int argc, char **argv) {
  int expected_wkc;
  int slave;
  uint16_t status;
  uint32_t position;
  int32_t target_pos;

  // Initialize EtherCAT master
  if (ec_init("enp0s31f6") > 0) {
    printf("ec_init on enp0s31f6 succeeded.\n");
  } else {
    printf("ec_init on enp0s31f6 failed.\n");
    return -1;
  }

  // Set number of slaves
  if (ec_config_init(FALSE) > 0) {
    printf("%d slaves found and configured.\n", ec_slavecount);
  } else {
    printf("No slaves found.\n");
    ec_close();
    return -1;
  }

  // Check if there is only one slave
  if (ec_slavecount != NUM_OF_SLAVES) {
    printf("Error: Expected %d slaves but found %d.\n", NUM_OF_SLAVES, ec_slavecount);
    ec_close();
    return -1;
  }

  // Configure slave
  for (slave = 1; slave <= ec_slavecount; slave++) {
    // Set slave to operational state
    ec_slave[slave].state = EC_STATE_OPERATIONAL;
    ec_slave[slave].ALstatuscode = 0;

    // Request state transition
    ec_slave[slave].state_request = EC_STATE_OPERATIONAL;
    ec_writestate(slave);

    // Wait for state transition
    ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
    if (ec_slave[slave].state != EC_STATE_OPERATIONAL) {
      printf("Slave %d did not reach operational state.\n", slave);
      ec_close();
      return -1;
    }

    // Read slave status
    ec_readstate();
    status = ec_slave[slave].state;
    printf("Slave %d status: %d\n", slave, status);

    // Set slave to position mode
    outbuf[0] = POS_MODE;
    expected_wkc = ec_SDOwrite(slave, 0x6060, 0x00, FALSE, 1, outbuf, EC_TIMEOUTRXM);

    // Set maximum position
    position = MAX_POS;
    outbuf[0] = (uint8_t)(position & 0x000000FF);
    outbuf[1] = (uint8_t)((position >> 8) & 0x000000FF);
    outbuf[2] = (uint8_t)((position >> 16) & 0x000000FF);
    outbuf[3] = (uint8_t)((position >> 24) & 0x000000FF);
    expected_wkc += ec_SDOwrite(slave, 0x607A, 0x00, FALSE, 4, outbuf, EC_TIMEOUTRXM);

    // Enable slave
    outbuf[0] = 0x0F;
    expected_wkc += ec_SDOwrite(slave, 0x6040, 0x00, FALSE, 1, outbuf, EC_TIMEOUTRXM);
    if (expected_wkc != (3 * NUM_OF_SLAVES)) {
      printf("Error: Expected %d write operations but %d were executed.\n", (3 * NUM_OF_SLAVES), expected_wkc);
      ec_close();
      return -1;
    }
  }

  // Set target position to 0
  target_pos = 0;

  // Loop until target position is reached
  while (1) {
    // Read current position
    ec_readstate();
    position = (ec_slave[1].inputs[0]) | (ec_slave[1].inputs[1] << 8) | (ec_slave[1].inputs[2] << 16) | (ec_slave[1].inputs[3] << 24);

    // Print current position
    printf("Current position: %d\n", position);

    // Check if target position is reached
    if (position == target_pos) {
      printf("Target position reached.\n");
      break;
    }

    // Set target position
    outbuf[0] = (uint8_t)(target_pos & 0x000000FF);
    outbuf[1] = (uint8_t)((target_pos >> 8) & 0x000000FF);
    outbuf[2] = (uint8_t)((target_pos >> 16) & 0x000000FF);
    outbuf[3] = (uint8_t)((target_pos >> 24) & 0x000000FF);
    expected_wkc = ec_SDOwrite(slave, 0x607A, 0x00, FALSE, 4, outbuf, EC_TIMEOUTRXM);

    // Wait for position update
    ec_send_processdata();
    ec_receive_processdata(EC_TIMEOUTRET);

    // Increment target position
    target_pos += 1000;
    if (target_pos > MAX_POS) {
      target_pos = 0;
    }
  }

  // Set slave to pre-operational state
  for (slave = 1; slave <= ec_slavecount; slave++) {
    ec_slave[slave].state_request = EC_STATE_PRE_OPERATIONAL;
    ec_writestate(slave);
  }

  // Close EtherCAT master
  ec_close();

  return 0;
}

这个代码示例假定只有一个从站连接到EtherCAT总线上，并且该从站是雷赛步进电机。在代码中，我们使用了EtherCAT库中的函数来初始化EtherCAT主站、配置从站和读写从站的寄存器。我们还使用了从站状态机来将从站设置为操作状态，并使用SDO（服务数据对象）来设置从站的工作模式和最大位置。我们还使用了一个循环来将电机移动到不同的位置，并在移动过程中打印当前位置。

请注意，这只是一个简单的示例代码，实际的应用程序可能需要更多的功能和错误处理。