igh ethercat程序汇川示例

以下是汇川 EtherCAT 的示例程序：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include <sys/time.h>
#include <ecrt.h>

#define EC_TIMEOUTMON 500

#define VENDOR_ID       0x1234
#define PRODUCT_CODE    0x5678

#define POS_CMD     0x6040
#define POS_ACT     0x6064
#define STATUS_WORD 0x6041

#define CONTROL_WORD    0x6040
#define MODES_OF_OP     0x6060
#define OP_MODE_CYCLIC_SYNC_TORQUE  0x09

#define TORQUE_CMD  0x6071

#define SYNC0_PERIOD_NS     1000000 // 1ms
#define SYNC0_SHIFT_NS      0

#define DOMAIN1_ADDRESS     0x0000

static volatile int run = 1;

void sigint_handler(int sig)
{
    (void) sig;
    run = 0;
}

int main(int argc, char **argv)
{
    printf("EtherCAT Master Example\n");

    if (argc != 2) {
        printf("Usage: %s <ifname>\n", argv[0]);
        return 1;
    }
    const char *ifname = argv[1];

    // Initialize EtherCAT master
    ec_master_t *master = ecrt_request_master(0);
    if (!master) {
        printf("Failed to initialize EtherCAT master!\n");
        return 1;
    }

    // Initialize EtherCAT slave
    ec_slave_config_t *slave = ecrt_master_slave_config(master, 0, VENDOR_ID, PRODUCT_CODE);
    if (!slave) {
        printf("Failed to initialize EtherCAT slave!\n");
        return 1;
    }

    // Configure Sync manager 0
    ec_sync_info_t sync_info = {0};
    sync_info.dir = EC_DIR_OUTPUT;
    sync_info.watchdog_mode = EC_WD_ENABLE;
    sync_info.watchdog_time = 1000;
    sync_info.sync0_shift = SYNC0_SHIFT_NS;
    sync_info.sync0_cycle_time_ns = SYNC0_PERIOD_NS;
    ecrt_slave_config_sync(slave, 0, 1, &sync_info);

    // Configure domain 1
    ec_domain_t *domain = ecrt_master_create_domain(master);
    if (!domain) {
        printf("Failed to create domain!\n");
        return 1;
    }
    ecrt_domain_reg_pdo_entry_list(domain, domain1_regs);
    if (ecrt_domain_size(domain) != DOMAIN1_SIZE) {
        printf("Domain size doesn't match!\n");
        return 1;
    }

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

    // Configure PDO mapping
    if (ecrt_slave_config_pdos(slave, EC_END, pdo_entries)) {
        printf("Failed to configure PDO mapping!\n");
        return 1;
    }

    // Set cyclic synchronous torque mode
    uint16_t modes_of_op = OP_MODE_CYCLIC_SYNC_TORQUE;
    if (ecrt_slave_config_sdo8(slave, MODES_OF_OP, 0, &modes_of_op)) {
        printf("Failed to set cyclic synchronous torque mode!\n");
        return 1;
    }

    // Enable slave
    if (ecrt_slave_config_dc(slave)) {
        printf("Failed to enable slave!\n");
        return 1;
    }

    // Wait for initialization to complete
    ecrt_master_application_time(master, 0);
    ecrt_master_sync_reference_clock(master);
    ecrt_master_sync_slave_clocks(master);
    ecrt_master_application_time(master, 1000000);
    ecrt_master_sync_reference_clock(master);
    ecrt_master_sync_slave_clocks(master);
    ecrt_domain_queue(domain);
    if (ecrt_master_activate(master)) {
        printf("Failed to activate EtherCAT master!\n");
        return 1;
    }
    printf("Initialization complete!\n");

    // Signal handler
    signal(SIGINT, sigint_handler);

    // Loop
    int32_t pos_cmd = 0;
    int16_t status_word = 0;
    int16_t control_word = 0x0006; // Enable voltage and operation
    int16_t torque_cmd = 0;
    while (run) {
        // Read status word
        ecrt_master_application_time(master, 0);
        ecrt_master_sync_reference_clock(master);
        ecrt_master_sync_slave_clocks(master);
        ecrt_domain_queue(domain);
        ecrt_master_receive(master);
        ecrt_domain_process(domain);
        ecrt_master_send(master);
        if ((status_word & 0x4f) == 0x40) {
            // Drive is in ready to switch on state
            control_word = 0x000f; // Switch on and enable operation
        }
        if ((status_word & 0x6f) == 0x27) {
            // Drive is in operation enabled state
            control_word = 0x003f; // Switch on, enable operation, and set torque mode
            torque_cmd = 1000; // 1 Nm
        }
        ecrt_master_application_time(master, 1000000);
        ecrt_master_sync_reference_clock(master);
        ecrt_master_sync_slave_clocks(master);
        ecrt_domain_queue(domain);
        ecrt_master_receive(master);
        ecrt_domain_process(domain);
        ecrt_master_send(master);

        // Write position command and torque command
        ecrt_master_application_time(master, 0);
        ecrt_master_sync_reference_clock(master);
        ecrt_master_sync_slave_clocks(master);
        ecrt_domain_queue(domain);
        pos_cmd += 1000; // 1 mm
        ecrt_domain_write(domain, 0, POS_CMD, &pos_cmd);
        ecrt_domain_write(domain, 0, TORQUE_CMD, &torque_cmd);
        ecrt_domain_queue(domain);
        ecrt_master_receive(master);
        ecrt_domain_process(domain);
        ecrt_master_send(master);
    }

    // Deactivate master
    ecrt_master_deactivate(master);
    ecrt_release_master(master);

    return 0;
}

以上代码实现了 EtherCAT 主站的初始化、PDO 映射、同步模式设置、状态读取、控制命令写入等功能。请注意，此代码仅提供参考，实际使用时需结合设备手册和实际情况进行修改和调试。