igh ethercat程序汇川示例
时间: 2023-09-18 09:07:22 浏览: 52
以下是汇川 EtherCAT 程序的示例代码:
```c
#include "ecrt.h"
#define DOMAIN_IDX 0
#define MOTOR_IDX 0
int main(int argc, char **argv)
{
ec_master_t *master = NULL;
ec_master_info_t master_info;
ec_domain_t *domain = NULL;
ec_domain_info_t domain_info;
ec_slave_config_t *slave = NULL;
ec_slave_config_info_t slave_info;
ec_slave_config_state_t slave_state;
uint32_t cycle_time = 1000; // EtherCAT cycle time in microseconds
uint16_t vendor_id = 0x1234; // Vendor ID of the EtherCAT device
uint16_t product_code = 0x5678; // Product code of the EtherCAT device
// Initialize EtherCAT master
master = ecrt_request_master(0);
if (!master) {
fprintf(stderr, "Failed to initialize EtherCAT master!\n");
return -1;
}
// Get information about the EtherCAT master
if (ecrt_master(master, &master_info) != 0) {
fprintf(stderr, "Failed to get EtherCAT master information!\n");
ecrt_release_master(master);
return -1;
}
// Create EtherCAT domain with cycle time of 1ms
domain = ecrt_master_create_domain(master);
if (!domain) {
fprintf(stderr, "Failed to create EtherCAT domain!\n");
ecrt_release_master(master);
return -1;
}
ecrt_domain_set_master(domain, master);
domain_info = ecrt_domain_get_info(domain);
// Create EtherCAT slave configuration
slave = ecrt_master_slave_config(master, vendor_id, product_code);
if (!slave) {
fprintf(stderr, "Failed to create EtherCAT slave configuration!\n");
ecrt_release_master(master);
return -1;
}
slave_info = ecrt_slave_config_get_info(slave);
slave_state = ecrt_slave_config_state(slave);
// Configure the slave
// ...
// Register PDOs (Process Data Objects)
// ...
// Activate EtherCAT domain
if (ecrt_domain_activate(domain) != 0) {
fprintf(stderr, "Failed to activate EtherCAT domain!\n");
ecrt_release_master(master);
return -1;
}
// Run EtherCAT cycle
while (1) {
ecrt_master_receive(master);
ecrt_domain_process(domain);
ecrt_master_send(master);
usleep(cycle_time);
}
// Cleanup
ecrt_domain_deactivate(domain);
ecrt_master_release(master);
return 0;
}
```
注意,在实际应用中,需要根据具体的 EtherCAT 设备和应用场景进行相应的配置和修改。