igh ethercat步进例程

以下是使用 EtherCAT 协议控制步进电机的示例代码：

#include "ecrt.h"

#define MOTOR_CHANNEL 0
#define MOTOR_POSITION 0x6064
#define MOTOR_PROFILE_VELOCITY 0x6081
#define MOTOR_TARGET_VELOCITY 0x60FF
#define MOTOR_MODE_OF_OPERATION 0x6060
#define MOTOR_CONTROL_WORD 0x6040
#define MOTOR_STATUS_WORD 0x6041
#define MOTOR_MAX_PROFILE_VELOCITY 3000
#define MOTOR_PROFILE_ACCELERATION 5000
#define MOTOR_PROFILE_DECELERATION 5000
#define MOTOR_TARGET_POSITION 10000

int main()
{
    ec_master_t *master = ecrt_request_master(0);
    ec_slave_config_t *sc_motor = ecrt_slave_config_create(0, MOTOR_CHANNEL);
    ec_slave_config_pdos_clear(sc_motor);

    // 配置输入对象字典
    ec_pdo_entry_info_t motor_inputs[] = {
        {MOTOR_STATUS_WORD, 0x10, EC_SIZE_UINT16},
        {MOTOR_POSITION, 0x10, EC_SIZE_INT32},
        {0}
    };
    ecrt_slave_config_pdos_add(sc_motor, EC_DIR_INPUT, motor_inputs);

    // 配置输出对象字典
    ec_pdo_entry_info_t motor_outputs[] = {
        {MOTOR_CONTROL_WORD, 0x0f, EC_SIZE_UINT16},
        {MOTOR_MODE_OF_OPERATION, 0x0f, EC_SIZE_UINT8},
        {MOTOR_TARGET_VELOCITY, 0x0f, EC_SIZE_INT32},
        {0}
    };
    ecrt_slave_config_pdos_add(sc_motor, EC_DIR_OUTPUT, motor_outputs);

    if (ecrt_slave_config_reg_pdo_entry(sc_motor, MOTOR_CONTROL_WORD, 0, &motor_control_word) ||
        ecrt_slave_config_reg_pdo_entry(sc_motor, MOTOR_MODE_OF_OPERATION, 0, &motor_mode_of_operation) ||
        ecrt_slave_config_reg_pdo_entry(sc_motor, MOTOR_TARGET_VELOCITY, 0, &motor_target_velocity))
    {
        printf("Failed to register PDO entries for MOTOR\n");
        return -1;
    }

    if (ecrt_master_activate(master))
    {
        printf("Failed to activate EtherCAT master\n");
        return -1;
    }

    ec_slave_config_pdos_update(sc_motor);

    // 进入电机操作模式
    uint16_t motor_mode = 9;
    if (ecrt_master_write(master, MOTOR_CHANNEL, MOTOR_MODE_OF_OPERATION, 0, &motor_mode, sizeof(motor_mode)))
    {
        printf("Failed to set motor mode of operation\n");
        return -1;
    }

    // 设置电机最大速度
    int32_t max_velocity = MOTOR_MAX_PROFILE_VELOCITY;
    if (ecrt_master_write(master, MOTOR_CHANNEL, MOTOR_PROFILE_VELOCITY, 0, &max_velocity, sizeof(max_velocity)))
    {
        printf("Failed to set motor max profile velocity\n");
        return -1;
    }

    // 设置加速度和减速度
    int32_t profile_acceleration = MOTOR_PROFILE_ACCELERATION;
    int32_t profile_deceleration = MOTOR_PROFILE_DECELERATION;
    if (ecrt_master_write(master, MOTOR_CHANNEL, 0x6083, 0, &profile_acceleration, sizeof(profile_acceleration)) ||
        ecrt_master_write(master, MOTOR_CHANNEL, 0x6084, 0, &profile_deceleration, sizeof(profile_deceleration)))
    {
        printf("Failed to set profile acceleration and deceleration\n");
        return -1;
    }

    // 发送电机目标位置
    int32_t target_position = MOTOR_TARGET_POSITION;
    if (ecrt_master_write(master, MOTOR_CHANNEL, MOTOR_TARGET_POSITION, 0, &target_position, sizeof(target_position)))
    {
        printf("Failed to set motor target position\n");
        return -1;
    }

    // 启动电机运动
    uint16_t control_word = 0x0006;
    if (ecrt_master_write(master, MOTOR_CHANNEL, MOTOR_CONTROL_WORD, 0, &control_word, sizeof(control_word)))
    {
        printf("Failed to start motor motion\n");
        return -1;
    }

    // 循环读取电机状态
    uint16_t status_word;
    int32_t position;
    while (1)
    {
        ecrt_master_read(master, MOTOR_CHANNEL, MOTOR_STATUS_WORD, 0, &status_word, sizeof(status_word));
        ecrt_master_read(master, MOTOR_CHANNEL, MOTOR_POSITION, 0, &position, sizeof(position));

        if (status_word & 0x100)
        {
            printf("Motor reached target position!\n");
            break;
        }
    }

    // 停止电机运动
    control_word = 0x0000;
    if (ecrt_master_write(master, MOTOR_CHANNEL, MOTOR_CONTROL_WORD, 0, &control_word, sizeof(control_word)))
    {
        printf("Failed to stop motor motion\n");
        return -1;
    }

    ecrt_release_master(master);
    return 0;
}

这段代码使用 EtherCAT 协议控制步进电机，实现了设置电机运动模式、最大速度、加速度、减速度和目标位置，并启动电机运动，等待电机到达目标位置后停止运动。这其中的具体实现和配置需要根据实际硬件设备和 EtherCAT 网络的具体情况进行调整和修改。