以下是一个基于EtherCAT总线的汇川伺服驱动器的示例程序: ```c++ #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。
原文链接:https://blog.csdn.net/u012861256/article/details/140956792