igh ethercat汇川示例

以下是一个基于EtherCAT总线的汇川伺服驱动器的示例程序：

#include <iostream>
#include <cstdint>
#include <cstring>
#include <unistd.h>
#include "ethercat.h"

#define EC_TIMEOUTMON 500

using namespace std;

int main(int argc, char **argv) {
    ec_master_t *master = ecrt_request_master(0);
    ec_master_state_t master_state;
    ec_master_state_t expected_state = {
        .al_states = EC_AL_STATES_OP,
        .link_up = true,
        .masters_responding = 1
    };
    int ret = ecrt_master_open(master, 0);
    if (ret < 0) {
        cerr << "Failed to open EtherCAT master: " << ecrt_strerror(-ret) << endl;
        return 1;
    }
    ret = ecrt_master_get_state(master, &master_state);
    if (ret < 0) {
        cerr << "Failed to get EtherCAT master state: " << ecrt_strerror(-ret) << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (memcmp(&master_state, &expected_state, sizeof(ec_master_state_t)) != 0) {
        cerr << "EtherCAT master is not in the expected state" << endl;
        ecrt_master_close(master);
        return 1;
    }
    ec_slave_config_t *sc_motor = ecrt_master_slave_config(master, 0, 0x0001, 0x0000, EC_MAX_PORTS);
    if (!sc_motor) {
        cerr << "Failed to get slave configuration for motor" << endl;
        ecrt_master_close(master);
        return 1;
    }
    ret = ecrt_slave_config_dc(sc_motor, 0x0300, 1000000, 440000, 0, 0);
    if (ret < 0) {
        cerr << "Failed to configure DC for motor: " << ecrt_strerror(-ret) << endl;
        ecrt_master_close(master);
        return 1;
    }
    ec_domain_t *domain = ecrt_master_create_domain(master);
    if (!domain) {
        cerr << "Failed to create EtherCAT domain" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_domain_reg_pdo_entry(domain, 0, 0, EC_REG_VENDOR_ID, EC_REG_VENDOR_ID_SIZE, EC_REG_VENDOR_ID_OFFSET, EC_REG_VENDOR_ID_SUBINDEX, EC_REG_VENDOR_ID_TYPE) < 0) {
        cerr << "Failed to register PDO entry for vendor ID" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_domain_reg_pdo_entry(domain, 0, 0, EC_REG_PRODUCT_CODE, EC_REG_PRODUCT_CODE_SIZE, EC_REG_PRODUCT_CODE_OFFSET, EC_REG_PRODUCT_CODE_SUBINDEX, EC_REG_PRODUCT_CODE_TYPE) < 0) {
        cerr << "Failed to register PDO entry for product code" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_domain_reg_pdo_entry(domain, 0, 0, EC_REG_CONTROL_WORD, EC_REG_CONTROL_WORD_SIZE, EC_REG_CONTROL_WORD_OFFSET, EC_REG_CONTROL_WORD_SUBINDEX, EC_REG_CONTROL_WORD_TYPE) < 0) {
        cerr << "Failed to register PDO entry for control word" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_domain_reg_pdo_entry(domain, 0, 0, EC_REG_STATUS_WORD, EC_REG_STATUS_WORD_SIZE, EC_REG_STATUS_WORD_OFFSET, EC_REG_STATUS_WORD_SUBINDEX, EC_REG_STATUS_WORD_TYPE) < 0) {
        cerr << "Failed to register PDO entry for status word" << endl;
        ecrt_master_close(master);
        return 1;
    }
    ec_pdo_entry_reg_t pdo_entries[] = {
        {
            .alias = 0,
            .position = 0,
            .vendor_id = EC_REG_VENDOR_ID,
            .product_code = EC_REG_PRODUCT_CODE,
            .index = EC_REG_CONTROL_WORD_INDEX,
            .subindex = EC_REG_CONTROL_WORD_SUBINDEX,
            .bit_position = 0,
            .bit_length = 16,
            .name = "control_word",
            .data_type = EC_REG_CONTROL_WORD_TYPE,
            .access_type = EC_ACCESS_TYPE_RW
        },
        {
            .alias = 0,
            .position = 0,
            .vendor_id = EC_REG_VENDOR_ID,
            .product_code = EC_REG_PRODUCT_CODE,
            .index = EC_REG_STATUS_WORD_INDEX,
            .subindex = EC_REG_STATUS_WORD_SUBINDEX,
            .bit_position = 0,
            .bit_length = 16,
            .name = "status_word",
            .data_type = EC_REG_STATUS_WORD_TYPE,
            .access_type = EC_ACCESS_TYPE_RO
        }
    };
    if (ecrt_slave_config_pdo(sc_motor, EC_PDO_CONFIG_DEFAULT, pdo_entries, array_size(pdo_entries)) < 0) {
        cerr << "Failed to configure PDOs for motor" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_domain_reg_callback(domain, &ecrt_domain_cb_stats, NULL) < 0) {
        cerr << "Failed to register domain callback" << endl;
        ecrt_master_close(master);
        return 1;
    }
    if (ecrt_master_activate(master) < 0) {
        cerr << "Failed to activate EtherCAT master" << endl;
        ecrt_master_close(master);
        return 1;
    }
    ec_pdo_entry_info_t pdo_info;
    if (ecrt_slave_config_pdos(sc_motor, EC_SDO_CONFIG_PERSIST, EC_TIMEOUTMON, &pdo_info) < 0) {
        cerr << "Failed to configure PDO mapping for motor" << endl;
        ecrt_master_close(master);
        return 1;
    }
    ecrt_domain_state_t domain_state;
    ecrt_master_receive(master);
    ecrt_domain_process(domain);
    ecrt_domain_state(domain, &domain_state);
    if (domain_state.working_counter == 0) {
        cerr << "Motor is not responding" << endl;
        ecrt_master_close(master);
        return 1;
    }
    uint16_t control_word = 0x0006;
    uint16_t status_word = 0x0000;
    if (ecrt_domain_queue(domain, &control_word, EC_REG_CONTROL_WORD_OFFSET, sizeof(control_word), EC_REG_CONTROL_WORD_TYPE, EC_WRITE_ACCESS) < 0) {
        cerr << "Failed to queue write access to control word" << endl;
        ecrt_master_close(master);
        return 1;
    }
    while (true) {
        ecrt_master_receive(master);
        ecrt_domain_process(domain);
        memcpy(&status_word, domain->data + EC_REG_STATUS_WORD_OFFSET, sizeof(status_word));
        if (status_word & 0x0004) {
            cout << "Motor is in fault state" << endl;
            break;
        }
        if (status_word & 0x0028) {
            cout << "Motor is in operation enabled state" << endl;
            break;
        }
        usleep(1000);
    }
    ecrt_master_close(master);
    return 0;
}

这个示例程序假设你已经熟悉EtherCAT总线的基本概念，并且你已经熟悉如何配置汇川伺服驱动器的PDO映射和监控状态字。如果你还没有这些知识，请先阅读相关文档和教程。