igh ethercat程序汇川代码示例

以下是汇川的IGH EtherCAT程序示例：

#include "stdafx.h"
#include <Windows.h>
#include <tchar.h>
#include <ecrt.h>
#include <iostream>
#include <vector>

#define EC_TIMEOUTMON 500

#define VENDOR_ID       0x1A05  // Vendor ID of EtherCAT device
#define PRODUCT_CODE    0x0003  // Product code of EtherCAT device

#define NSEC_PER_SEC 1000000000

// EtherCAT domain
#define DOMAIN_INDEX        0       // Domain index
#define DOMAIN_SYNC0_PERIOD 1000000 // Sync0 period (ns)
#define DOMAIN_SYNC1_CYCLE  0       // Sync1 cycle (ns)

// EtherCAT slave
#define SLAVE_COUNT 1           // Number of EtherCAT slaves
#define SLAVE_POSITION 0        // Slave position in the EtherCAT network
#define SLAVE_VENDOR_ID 0x1A05  // Vendor ID of EtherCAT slave
#define SLAVE_PRODUCT_ID 0x0003 // Product code of EtherCAT slave
#define SLAVE_ALIAS 0           // Slave alias (0 for no alias)

// EtherCAT PDO mapping
#define PDO_MAPPING_COUNT 4       // Number of PDO mappings
#define PDO_MAPPING_RX_POS 0      // PDO mapping index for receive data
#define PDO_MAPPING_RX_COUNT 3    // Number of receive data PDO mapping
#define PDO_MAPPING_RX_OFFSET 0   // Offset of receive data PDO mapping
#define PDO_MAPPING_TX_POS 1      // PDO mapping index for transmit data
#define PDO_MAPPING_TX_COUNT 3    // Number of transmit data PDO mapping
#define PDO_MAPPING_TX_OFFSET 0   // Offset of transmit data PDO mapping

// EtherCAT slave registers
#define REG_OUTPUT 0x6000 // Output register address
#define REG_INPUT 0x7000  // Input register address

// EtherCAT slave PDO mapping
struct SlavePDO
{
    uint8_t status;
    uint16_t position;
    int16_t velocity;
};

// EtherCAT domain and slave
static ec_master_t *master = NULL;
static ec_domain_t *domain = NULL;
static ec_slave_config_t *slave_config = NULL;

// EtherCAT slave PDO mapping
static SlavePDO pdo_rx;
static SlavePDO pdo_tx =
{
    0,
    0,
    0
};

// EtherCAT domain and slave initialization
static bool InitEtherCAT()
{
    // Initialize EtherCAT master
    if (!ecrt_master_init())
    {
        std::cout << "Failed to initialize EtherCAT master." << std::endl;
        return false;
    }

    // Get the first available EtherCAT master
    if (!(master = ecrt_master_find_first()))
    {
        std::cout << "Failed to find EtherCAT master." << std::endl;
        return false;
    }

    // Create an EtherCAT domain
    if (!(domain = ecrt_domain_create()))
    {
        std::cout << "Failed to create EtherCAT domain." << std::endl;
        return false;
    }

    // Set the EtherCAT domain synchronization
    ecrt_domain_set_sync0_period(domain, DOMAIN_SYNC0_PERIOD);
    ecrt_domain_set_sync1_cycle(domain, DOMAIN_SYNC1_CYCLE);
    ecrt_master_set_send_interval(master, ecrt_domain_get_send_interval(domain));

    // Create an EtherCAT slave configuration
    slave_config = ecrt_master_slave_config_create(master, SLAVE_POSITION, SLAVE_VENDOR_ID, SLAVE_PRODUCT_ID);

    // Set the EtherCAT slave alias
    ecrt_slave_config_set_alias(slave_config, SLAVE_ALIAS);

    // Set the EtherCAT slave PDO mapping
    ec_pdo_entry_reg_t pdo_rx_entries[] =
    {
        { REG_INPUT + 0, 0x0000, EC_SIZE_BYTE, &pdo_rx.status },
        { REG_INPUT + 1, 0x0000, EC_SIZE_WORD, &pdo_rx.position },
        { REG_INPUT + 3, 0x0000, EC_SIZE_WORD, &pdo_rx.velocity },
    };
    ec_pdo_entry_reg_t pdo_tx_entries[] =
    {
        { REG_OUTPUT + 0, 0x0000, EC_SIZE_BYTE, &pdo_tx.status },
        { REG_OUTPUT + 1, 0x0000, EC_SIZE_WORD, &pdo_tx.position },
        { REG_OUTPUT + 3, 0x0000, EC_SIZE_WORD, &pdo_tx.velocity },
    };
    ec_pdo_info_t pdo_rx_info =
    {
        PDO_MAPPING_RX_POS,
        PDO_MAPPING_RX_COUNT,
        pdo_rx_entries,
    };
    ec_pdo_info_t pdo_tx_info =
    {
        PDO_MAPPING_TX_POS,
        PDO_MAPPING_TX_COUNT,
        pdo_tx_entries,
    };
    ec_sync_info_t sync_info[] =
    {
        {
            EC_SYNC_INFO(0),
            EC_DIR_INPUT,
            1,
            &pdo_rx_info,
            EC_WD_DISABLE,
        },
        {
            EC_SYNC_INFO(1),
            EC_DIR_OUTPUT,
            1,
            &pdo_tx_info,
            EC_WD_DISABLE,
        },
        { 0 },
    };
    if (ecrt_slave_config_pdos(slave_config, EC_END, sync_info))
    {
        std::cout << "Failed to set EtherCAT slave PDO mapping." << std::endl;
        return false;
    }

    // Register the EtherCAT slave configuration
    if (ecrt_master_slave_config_add(master, slave_config))
    {
        std::cout << "Failed to add EtherCAT slave configuration." << std::endl;
        return false;
    }

    // Register the EtherCAT domain for the EtherCAT slave configuration
    if (ecrt_domain_reg_pdo_entry_list(domain, sync_info))
    {
        std::cout << "Failed to register EtherCAT domain." << std::endl;
        return false;
    }

    // Activate the EtherCAT master
    if (ecrt_master_activate(master))
    {
        std::cout << "Failed to activate EtherCAT master." << std::endl;
        return false;
    }

    // Initialize the EtherCAT slave
    if (ecrt_slave_config_sdo8(slave_config, 0x60FF, 0x00, 0x01))
    {
        std::cout << "Failed to initialize EtherCAT slave." << std::endl;
        return false;
    }

    return true;
}

// EtherCAT domain and slave deinitialization
static void DeinitEtherCAT()
{
    // Deactivate the EtherCAT master
    ecrt_master_deactivate(master);

    // Unregister the EtherCAT domain for the EtherCAT slave configuration
    ecrt_domain_unreg_pdo_entry_list(domain, ecrt_domain_reg_pdo_entry_list(domain, NULL));

    // Unregister the EtherCAT slave configuration
    ecrt_master_slave_config_remove(master, slave_config);

    // Delete the EtherCAT slave configuration
    ecrt_master_slave_config_delete(slave_config);

    // Delete the EtherCAT domain
    ecrt_domain_delete(domain);

    // Deinitialize the EtherCAT master
    ecrt_master_deinit(master);
}

// EtherCAT slave read
static void ReadSlave()
{
    // Read the EtherCAT slave PDO mapping
    ecrt_master_receive(master);
    ecrt_domain_process(domain);
    ecrt_master_send(master);

    // Get the EtherCAT slave PDO mapping
    pdo_rx.status = ecrt_slave_config_reg_read_u8(slave_config, REG_INPUT + 0);
    pdo_rx.position = ecrt_slave_config_reg_read_u16(slave_config, REG_INPUT + 1);
    pdo_rx.velocity = ecrt_slave_config_reg_read_s16(slave_config, REG_INPUT + 3);
}

// EtherCAT slave write
static void WriteSlave()
{
    // Set the EtherCAT slave PDO mapping
    pdo_tx.status = 0x01;
    pdo_tx.position = 0x0100;
    pdo_tx.velocity = 0x0200;
    ecrt_slave_config_reg_write_u8(slave_config, REG_OUTPUT + 0, pdo_tx.status);
    ecrt_slave_config_reg_write_u16(slave_config, REG_OUTPUT + 1, pdo_tx.position);
    ecrt_slave_config_reg_write_s16(slave_config, REG_OUTPUT + 3, pdo_tx.velocity);

    // Write the EtherCAT slave PDO mapping
    ecrt_master_receive(master);
    ecrt_domain_process(domain);
    ecrt_master_send(master);
}

// Main function
int _tmain(int argc, _TCHAR* argv[])
{
    // Initialize EtherCAT domain and slave
    if (!InitEtherCAT())
    {
        return 1;
    }

    // Loop until the program is terminated
    while (true)
    {
        // Read the EtherCAT slave
        ReadSlave();

        // Write the EtherCAT slave
        WriteSlave();

        // Sleep for a short time
        Sleep(1);
    }

    // Deinitialize EtherCAT domain and slave
    DeinitEtherCAT();

    return 0;
}

该示例初始化一个IGH EtherCAT主机，配置一个EtherCAT从机，设置PDO映射，读取和写入PDO数据，并在无限循环中重复此操作。注意，此示例仅适用于一个从机。如果您需要连接多个从机，请相应地调整代码。