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Ethercat-IghMaster 1.5.2调试笔记_failed to execute sdo download input/output error
作者：小蓝xlanll | 2024-05-06 08:32:42
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failed to execute sdo download input/output error
本人已经不再从事ethercat相关工作，如果有问题也可以邮件沟通717628525@qq.com
代码用SourceInsight 3.5打开，其它软件打开可能会有乱码
文档目录结构及简要说明
创建了一个Ethercat-Igh交流群，要加群的话可以添加微信:robytt123 备注信息请填：Ethercat-Igh 交流
之前关于Ethercat-Igh1.5.2 相关代码托管在
https://gitee.com/wllw7176/MyEthercat-IGH-1.5.2
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0.Ethercat调试记录.txt
调试Ethercat过程中碰到的问题及解决办法
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ethercat 命令行工具有个隐藏选项没有提示 --master master_index 选择特定的主机索引 ------------------------------------------------------------------------------------------------------------------------- 山羊电机与驱动器调试 1. Ethercat 别名信息 ethercat slaves 1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V | | | | | | | | | | | \- Name from the SII if avaliable, | | | | | otherwise vendor ID and product | | | | | code (both hexadecimal). | | | | \- Error flag. '+' means no error, | | | | 'E' means that scan or | | | | configuration failed. | | | \- Current application-layer state. | | \- Decimal relative position to the last | | slave with an alias address set. | \- Decimal alias address of this slave (if set), | otherwise of the last slave with an alias set, | or zero, if no alias was encountered up to this | position. \- Absolute ring position in the bus. If the --verbose option is given, a detailed (multi-line) description is output for each slave. Slave selection: Slaves for this and other commands can be selected with the --alias and --position parameters as follows: 1) If neither the --alias nor the --position option is given, all slaves are selected. 2) If only the --position option is given, it is interpreted as an absolute ring position and a slave with this position is matched. 3) If only the --alias option is given, all slaves with the given alias address and subsequent slaves before a slave with a different alias address match (use -p0 if only the slaves with the given alias are desired, see 4)). 4) If both the --alias and the --position option are given, the latter is interpreted as relative position behind any slave with the given alias. Command-specific options: --alias -a <alias> Slave alias (see above). --position -p <pos> Slave position (see above). --verbose -v Show detailed slave information. 驱动器信息: 0 0:0 PREOP + R ADVANCED MODEL with EtherCAT(P0002813G01) 1.1 获取pdo数(手册P212查看索引及子索引) ethercat upload -a 1 -p 0 0x1018 0x00 0x04 4 1.2 获取VENDOR_ID(手册P212查看索引及子索引) ethercat upload -a 1 -p 0 0x1018 0x01 0x000001b9 441 1.2 获取PRODUCT_ID(手册P212查看索引及子索引) ethercat upload -a 1 -p 0 0x1018 0x02 0x00000002 2 2. 通过ethercat应用程序操作电机 首先要通过etercat slaves 获取从机信息，然后对从机进行相应操作 2.1 设置别名 etercat alias 0x0001 -a 0 -p 0 2.2 读写寄存器 注意，为了谨慎起见我们只对0x0FC0:0x0FFF 64KB 用户RAM空间进行操作，进行其它空间操作时要明确参数意义及作用。 写寄存器 ethercat reg_write -a 0 -p 0 0x0FC0 --type uint32 0x3344 读寄存器 ethercat reg_read -a 0 -p 0 -t uint32 0x0FC0 返回结果0x44 0x33 3. pdo 信息 ethercat pdos SM0: PhysAddr 0x1800, DefaultSize 512, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1c00, DefaultSize 512, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x24, Enable 1 SM3: PhysAddr 0x1400, DefaultSize 0, ControlRegister 0x20, Enable 1 4. sdo 信息 ethercat sdos SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 88 bit, "Device name" SDO 0x1009, "Hardware version" 0x1009:00, r-r-r-, string, 32 bit, "Hardware version" SDO 0x100a, "Software version" 0x100a:00, r-r-r-, string, 88 bit, "Software version" SDO 0x1010, "Store parameters" 0x1010:00, r-r-r-, uint8, 8 bit, "Software version" 0x1010:01, rwrwrw, uint32, 32 bit, "Save all parameters" SDO 0x1018, "Identity" 0x1018:00, r-r-r-, uint8, 8 bit, "Identity" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial number" 5. 查看主机信息 ethercat master Master0 Phase: Idle Active: no Slaves: 1 Ethernet devices: Main: e4:f3:f5:c6:4e:b5 (attached) Link: UP Tx frames: 44056 Tx bytes: 3942496 Rx frames: 44055 Rx bytes: 3942436 Tx errors: 0 Tx frame rate [1/s]: 100 100 100 Tx rate [KByte/s]: 5.9 5.8 6.0 Rx frame rate [1/s]: 100 100 100 Rx rate [KByte/s]: 5.9 5.8 6.0 Common: Tx frames: 44056 Tx bytes: 3942496 Rx frames: 44055 Rx bytes: 3942436 Lost frames: 0 Tx frame rate [1/s]: 100 100 100 Tx rate [KByte/s]: 5.9 5.8 6.0 Rx frame rate [1/s]: 100 100 4340 Rx rate [KByte/s]: 5.9 5.9 6.0 Loss rate [1/s]: 0 -0 0 Frame loss [%]: 0.0 -0.0 0.0 Distributed clocks: Reference clock: Slave 0 Application time: 0 2000-01-01 00:00:00.000000000 6.更改别名 ethercat alias 0x0001 ethercat slaves 0 1:0 PREOP + R ADVANCED MODEL with EtherCAT(P0002813G01) 别名一旦更改可以保存在驱动器E2PROM中,配置好后可以下次直接使用，多轴控制的时候可以配置不同的别名信息区分不同的轴 7. 操作模式设置 (CoE INDEX:SUBINDEX 0x0600:0x00 ) 设置 ethercat download -a 0 -p 0 0x6060 0x00 0x01 读取 ethercat upload -a 0 -p 0 0x6061 0x00 8. 从机状态设置 ethercat state -a 0 -p 0 OP 9. 自由运行模式(手册P221) 设置自由运行模式(FreeRun mode) root@linaro-ubuntu-desktop:/home/linaro/ftp/wuliang# ethercat download -a 0 -p 0 -t uint8 0x1c32 0x01 0x00 10. DC模式不能进入OP模式的可能原因？ DC模式一般用于实时性较高的场合,主站实时性要求非常高，一般高实时性场合Slaves要求时间抖动不超过100us 11. 通过ethercat让电机力矩 11.1 设置自由模式 ethercat download -a 0 -p 0 -t uint8 0x1c32 0x01 0x00 设置力矩模式: ethercat download -a 0 -p 0 -t uint8 0x6060 0x00 0x04 11.2 设置驱动器成'OP'模式 ethercat states -a 0 -p 0 OP 11.3 伺服ON root@linaro-ubuntu-desktop:/home/output/bin# ethercat download -a 0 -p 0 -t uint8 0x6040 0x00 0x06 root@linaro-ubuntu-desktop:/home/output/bin# ethercat download -a 0 -p 0 -t uint8 0x6040 0x00 0x07 root@linaro-ubuntu-desktop:/home/output/bin# ethercat download -a 0 -p 0 -t uint8 0x6040 0x00 0x0f 11.4 设置目标力矩电机开始转动（山羊电机手册P270） 以正力矩转动: ethercat download -a 0 -p 0 -t uint16 0x6071 0x00 0x001c 以负力矩转动: ethercat download -a 0 -p 0 -t uint16 0x6071 0x00 0xffe4 11.5 停止电机转动 ethercat download -a 0 -p 0 -t uint8 0x6040 0x00 0x0f ethercat download -a 0 -p 0 -t uint8 0x6040 0x00 0x06 12.设置例句模式问题 OP模式下进行一些对象字典设置会有如下报错: root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat download -a 0 -p 0 -t uint8 0x6060 0x00 0x04 EtherCAT ERROR 0-0: Reception of CoE download response failed: No response. EtherCAT ERROR 0-0: Failed to process SDO request. Failed to download SDO: Input/output error 原因是OP模式不能更改一些寄存器器的值所以会包上述错误 13.非'OP'模式力矩测试问题 经测试发现非'OP'模式下也可以设置电机力矩控制 14. 数字输出OUT1,OUT2控制 Ethercat控制OUT1输出 ethercat download -a 0 -p 0 -t uint32 0x60fe 0x01 0x00010000 Ethercat控制OUT2输出 ethercat download -a 0 -p 0 -t uint32 0x60fe 0x01 0x00020000 Ethercat同时控制OUT1,OUT2输出 ethercat download -a 0 -p 0 -t uint32 0x60fe 0x01 0x00030000 OUT1输出ON(刹车松开) ethercat download -a 0 -p 0 -t uint8 0x20f9 0x02 0x42 OUT1输出OFF((刹车抱死)) ethercat download -a 0 -p 0 -t uint8 0x20f9 0x02 0x43 OUT2输出ON ethercat download -a 0 -p 0 -t uint8 0x20f9 0x02 0x44 OUT2输出OFF ethercat download -a 0 -p 0 -t uint8 0x20f9 0x02 0x45 14. OUTPUT-----RxPdo 映射对象字典原始数据读取 ethercat upload -a 0 -p 0 -t uint16 0x6040 0x00 ethercat upload -a 0 -p 0 -t uint32 0x607a 0x00 ethercat upload -a 0 -p 0 -t uint32 0x6081 0x00 ethercat upload -a 0 -p 0 -t uint32 0x6083 0x00 ethercat upload -a 0 -p 0 -t uint32 0x6084 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60ff 0x00 ethercat upload -a 0 -p 0 -t uint16 0x6071 0x00 ethercat upload -a 0 -p 0 -t uint16 0x60b8 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60fe 0x01 INPUT-----TxPdo 映射对象字典原始数据读取 ethercat upload -a 0 -p 0 -t uint16 0x6041 0x00 ethercat upload -a 0 -p 0 -t uint16 0x2100 0x00 ethercat upload -a 0 -p 0 -t uint32 0x6064 0x00 ethercat upload -a 0 -p 0 -t uint32 0x606c 0x00 ethercat upload -a 0 -p 0 -t uint16 0x6077 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60f4 0x00 ethercat upload -a 0 -p 0 -t uint16 0x60b9 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60ba 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60bb 0x00 ethercat upload -a 0 -p 0 -t uint32 0x60fd 0x00 ethercat upload -a 0 -p 0 -t uint8 0x1001 0x00 ethercat upload -a 0 -p 0 -t uint8 0x6061 0x00 15.发生报警时根据手册P420页内容逐步排查原因 15.1 任务处理异常 报警代码 描述 F1 任务处理异常 0x603f:0x8700 0x2101/0x2102 针对问题15.1的解决办法: (1)要先配0x6040:0x00=0x06,让伺服驱动处于ShutDown状态 山羊电机手册 P229 (2)没有进行pdo映射的对象字典要通过sdo方式先进行配置 (3)sdo配置对象字典要在主站激活前进行 (4)所有配置完成，主机激活完成通过PDO方式配置0x6040:0x00=0x07,使能主机 ************************************************************************************************************ 泰科电机调试 (1)获取VENDOR_ID(手册P212查看索引及子索引) ethercat upload -a 1 -p 0 0x1018 0x01 0x000001b9 441 (2)获取PRODUCT_ID(手册P212查看索引及子索引) ethercat upload -a 1 -p 0 0x1018 0x02 0x00000002 2 ------------------------------------------------------------------------------------------------------------ TwinCat 配置泰科伺服 1， 要在配置模式进行对象字典的配置 伺服使能状态字对比 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat download -a 255 -p 0 -t uint8 0x6060 0x00 0x04 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x06 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0631 1585 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x07 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0633 1587 root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x0f root@linaro-ubuntu-desktop:/home/linaro/ftp/ethercat-1.5.2/test# ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0637 1591 ------------------------------------------------------------------------------------------------------------ 重启后: root@linaro-ubuntu-desktop:~# ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0670 1648 通过调试软件使能JOG后: root@linaro-ubuntu-desktop:~# ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0537 1335 命令行使能后: ethercat upload -a 255 -p 0 -t uint16 0x6041 0x00 0x0737 1847 0x6076 额定输出力矩值 最大力矩 = 额定输出力矩值 * 3 泰科模组Ethercat调试 —————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— 可以正常以力矩模式控制泰科电机的命令序列 0.设置自由模式 ethercat download -a 255 -p 0 -t uint16 0x1c32 0x01 0x00 ethercat states -a 255 -p 0 OP 1.设置力矩模式 ethercat download -a 255 -p 0 -t uint8 0x6060 0x00 0x04 2.设置力矩上升斜率 ethercat download -a 255 -p 0 -t int32 0x6087 0x00 1000 3.伺服ON ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x06 ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x07 ethercat download -a 255 -p 0 -t uint16 0x6040 0x00 0x0f 4. 设置输出目标力矩,电机旋转 ethercat download -a 255 -p 0 -t int16 0x6071 0x00 100 5.输出力矩0电机 ethercat download -a 255 -p 0 -t int16 0x6071 0x00 0 —————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— 关于OP模式的几点要点 1.进行PDO映射的对象字典要在OP模式下更改才会生效，否则可能即使更改成功了也会不起作用 2.没有进行PDO映射的对象字典在OP模式下读写可能会发生错误 ———————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— 对象字典使用PDO还是SDO方式进行操作? SDO一般用于配置从站信息，PDO方式一般用于同从站进行实时数据交互，SDO方式主从站需要交互确认机制因而费时。 ———————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— EthercatIO板调试 root@linaro-ubuntu-desktop:~# ethercat pdos -a 0 -p 0 SM0: PhysAddr 0x1000, DefaultSize 128, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1080, DefaultSize 128, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1100, DefaultSize 2, ControlRegister 0x64, Enable 1 RxPDO 0x1601 "DO RxPDO-Map" PDO entry 0x7010:01, 1 bit, "LED 1" PDO entry 0x7010:02, 1 bit, "LED 2" PDO entry 0x7010:03, 1 bit, "LED 3" PDO entry 0x7010:04, 1 bit, "LED 4" PDO entry 0x7010:05, 1 bit, "LED 5" PDO entry 0x7010:06, 1 bit, "LED 6" PDO entry 0x7010:07, 1 bit, "LED 7" PDO entry 0x7010:08, 1 bit, "LED 8" PDO entry 0x0000:00, 8 bit, "Gap" SM3: PhysAddr 0x1400, DefaultSize 6, ControlRegister 0x20, Enable 1 TxPDO 0x1a00 "DI TxPDO-Map" PDO entry 0x6000:01, 1 bit, "Switch 1" PDO entry 0x6000:02, 1 bit, "Switch 2" PDO entry 0x6000:03, 1 bit, "Switch 3" PDO entry 0x6000:04, 1 bit, "Switch 4" PDO entry 0x6000:05, 1 bit, "Switch 5" PDO entry 0x6000:06, 1 bit, "Switch 6" PDO entry 0x6000:07, 1 bit, "Switch 7" PDO entry 0x6000:08, 1 bit, "Switch 8" PDO entry 0x0000:00, 8 bit, "Gap" TxPDO 0x1a02 "AI TxPDO-Map" PDO entry 0x6020:01, 1 bit, "Underrange" PDO entry 0x6020:02, 1 bit, "Overrange" PDO entry 0x6020:03, 2 bit, "Limit 1" PDO entry 0x6020:05, 2 bit, "Limit 2" PDO entry 0x0000:00, 8 bit, "Gap" PDO entry 0x1802:07, 1 bit, "TxPDOState" PDO entry 0x1802:09, 1 bit, "TxPDO Toggle" PDO entry 0x6020:11, 16 bit, "Analog input" PDO entry 0x6020:12, 16 bit, "Temp" PDO entry 0x6020:13, 16 bit, "Hum" ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ PDO方式控制问题的解决: 对象字典0x0000:0x00 为填充对象， 不能在ecrt_domain_reg_pdo_entry_list注册，也就是不能出现在ec_pdo_entry_reg_t board0_domain_regs[]数组定义里， 但是为了匹配队形E2PROM中PDO映射关系要在ec_pdo_entry_info_t slave_0_pdo_entries[]定义 PDO数据命令行显示： ethercat data -a 0 -p 0 | hd ethercat domains -a 0 -p 0 -v //更详细会显示哪个PDO管理器 const static ec_pdo_entry_reg_t board0_domain_regs[] = { /*Leds*/ { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x01, //子索引 &off_bytes_board0_led1_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led1_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x02, //子索引 &off_bytes_board0_led2_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led2_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x03, //子索引 &off_bytes_board0_led3_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led3_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x04, //子索引 &off_bytes_board0_led4_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led4_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x05, //子索引 &off_bytes_board0_led5_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led5_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x06, //子索引 &off_bytes_board0_led6_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led6_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x07, //子索引 &off_bytes_board0_led7_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led7_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x7010, //索引 0x08, //子索引 &off_bytes_board0_led8_val, //PDO入口在process_data字节偏移量 &off_bits_board0_led8_val }, //一定要注意，对象字典0x0000:0x00 为填充对象，不能注册 /* { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x0000, //索引 0x00, //子索引 &off_bytes_board0_ledgap, //PDO入口在process_data字节偏移量 &off_bits_board0_ledgap }, */ /*switchs*/ { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x01, //子索引 &off_bytes_board0_switch1_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch1_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x02, //子索引 &off_bytes_board0_switch2_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch2_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x03, //子索引 &off_bytes_board0_switch3_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch3_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x04, //子索引 &off_bytes_board0_switch4_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch4_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x05, //子索引 &off_bytes_board0_switch5_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch5_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x06, //子索引 &off_bytes_board0_switch6_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch6_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x07, //子索引 &off_bytes_board0_switch7_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch7_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6000, //索引 0x08, //子索引 &off_bytes_board0_switch8_status, //PDO入口在process_data字节偏移量 &off_bits_board0_switch8_status }, //一定要注意，对象字典0x0000:0x00 为填充对象，不能注册 /* { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x0000, //索引 0x00, //子索引 &off_bytes_board0_switchgap, //PDO入口在process_data字节偏移量 &off_bits_board0_switchgap }, */ { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x01, //子索引 &off_bytes_board0_underrange_status, //PDO入口在process_data字节偏移量 &off_bits_board0_underrange_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x02, //子索引 &off_bytes_board0_overrange_status, //PDO入口在process_data字节偏移量 &off_bits_board0_overrange_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x03, //子索引 &off_bytes_board0_limit1_status, //PDO入口在process_data字节偏移量 &off_bits_board0_limit1_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x05, //子索引 &off_bytes_board0_limit2_status, //PDO入口在process_data字节偏移量 &off_bits_board0_limit2_status }, //一定要注意，对象字典0x0000:0x00 为填充对象，不能注册 /* { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x0000, //索引 0x00, //子索引 &off_bytes_board0_limitgap,//PDO入口在process_data字节偏移量 &off_bits_board0_limitgap }, */ { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x1802, //索引 0x07, //子索引 &off_bytes_board0_TxPDOState_status, //PDO入口在process_data字节偏移量 &off_bits_board0_TxPDOState_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x1802, //索引 0x09, //子索引 &off_bytes_board0_TxPDO_Toggle_status, //PDO入口在process_data字节偏移量 &off_bits_board0_TxPDO_Toggle_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x11, //子索引 &off_bytes_board0_Analog_input_status, //PDO入口在process_data字节偏移量 &off_bits_board0_Analog_input_status }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x12, //子索引 &off_bytes_board0_Temp_val, //PDO入口在process_data字节偏移量 &off_bits_board0_Temp_val }, { IO_BOARD_0_ALIAS, //别名 IO_BOARD_0_POSITION, //位置 IO_BOARD_0_VENDORID, //厂商id IO_BOARD_0_PRODUCTID, //产品id 0x6020, //索引 0x13, //子索引 &off_bytes_board0_Hum_val, //PDO入口在process_data字节偏移量 &off_bits_board0_Hum_val }, { } }; ec_pdo_entry_info_t slave_0_pdo_entries[] = { {0x7010, 0x01, 1}, /* LED 1 */ {0x7010, 0x02, 1}, /* LED 2 */ {0x7010, 0x03, 1}, /* LED 3 */ {0x7010, 0x04, 1}, /* LED 4 */ {0x7010, 0x05, 1}, /* LED 5 */ {0x7010, 0x06, 1}, /* LED 6 */ {0x7010, 0x07, 1}, /* LED 7 */ {0x7010, 0x08, 1}, /* LED 8 */ {0x0000, 0x00, 8}, /* Gap */ //一定要注意，对象字典0x0000:0x00 为填充对象，不能在ecrt_domain_reg_pdo_entry_list注册， 但是要在此处定义 {0x6000, 0x01, 1}, /* Switch 1 */ {0x6000, 0x02, 1}, /* Switch 2 */ {0x6000, 0x03, 1}, /* Switch 3 */ {0x6000, 0x04, 1}, /* Switch 4 */ {0x6000, 0x05, 1}, /* Switch 5 */ {0x6000, 0x06, 1}, /* Switch 6 */ {0x6000, 0x07, 1}, /* Switch 7 */ {0x6000, 0x08, 1}, /* Switch 8 */ {0x0000, 0x00, 8}, /* Gap */ //一定要注意，对象字典0x0000:0x00 为填充对象，不能在ecrt_domain_reg_pdo_entry_list注册， 但是要在此处定义 {0x6020, 0x01, 1}, /* Underrange */ {0x6020, 0x02, 1}, /* Overrange */ {0x6020, 0x03, 2}, /* Limit 1 */ {0x6020, 0x05, 2}, /* Limit 2 */ {0x0000, 0x00, 8}, /* Gap */ //一定要注意，对象字典0x0000:0x00 为填充对象，不能在ecrt_domain_reg_pdo_entry_list注册， 但是要在此处定义 {0x1802, 0x07, 1}, /* TxPDOState */ {0x1802, 0x09, 1}, /* TxPDO Toggle */ {0x6020, 0x11, 16}, /* Analog input */ {0x6020, 0x12, 16}, /* Temp */ {0x6020, 0x13, 16}, /* Hum */ }; ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ root@linaro-ubuntu-desktop:~# ethercat sdos SDO 0x1000, "Device type" 0x1000:00, r-r-r-, uint32, 32 bit, "Device type" SDO 0x1001, "Error register" 0x1001:00, r-r-r-, uint8, 8 bit, "Error register" SDO 0x1008, "Device name" 0x1008:00, r-r-r-, string, 80 bit, "Device name" SDO 0x1009, "Hardware version" 0x1009:00, r-r-r-, string, 32 bit, "Hardware version" SDO 0x100a, "Software version" 0x100a:00, r-r-r-, string, 32 bit, "Software version" SDO 0x1018, "Identity" 0x1018:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1018:01, r-r-r-, uint32, 32 bit, "Vendor ID" 0x1018:02, r-r-r-, uint32, 32 bit, "Product code" 0x1018:03, r-r-r-, uint32, 32 bit, "Revision" 0x1018:04, r-r-r-, uint32, 32 bit, "Serial number" SDO 0x10f1, "Error Settings" 0x10f1:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x10f1:01, rwrwrw, uint32, 32 bit, "Local Error Reaction" 0x10f1:02, rwrwrw, uint16, 16 bit, "Sync Error Counter Limit" SDO 0x1601, "DO RxPDO-Map" 0x1601:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1601:01, r-r-r-, uint32, 32 bit, "SubIndex 001" 0x1601:02, r-r-r-, uint32, 32 bit, "SubIndex 002" 0x1601:03, r-r-r-, uint32, 32 bit, "SubIndex 003" 0x1601:04, r-r-r-, uint32, 32 bit, "SubIndex 004" 0x1601:05, r-r-r-, uint32, 32 bit, "SubIndex 005" 0x1601:06, r-r-r-, uint32, 32 bit, "SubIndex 006" 0x1601:07, r-r-r-, uint32, 32 bit, "SubIndex 007" 0x1601:08, r-r-r-, uint32, 32 bit, "SubIndex 008" 0x1601:09, r-r-r-, uint32, 32 bit, "SubIndex 009" SDO 0x1802, "TxPDO Parameter" 0x1802:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1802:01, ------, type 0000, 0 bit, "SubIndex 001" 0x1802:02, ------, type 0000, 0 bit, "SubIndex 002" 0x1802:03, ------, type 0000, 0 bit, "SubIndex 003" 0x1802:04, ------, type 0000, 0 bit, "SubIndex 004" 0x1802:05, ------, type 0000, 0 bit, "SubIndex 005" 0x1802:06, r-r-r-, octet_string, 0 bit, "Exclude TxPDOs" 0x1802:07, r-r-r-, bool, 1 bit, "TxPDOState" 0x1802:08, ------, type 0000, 0 bit, "SubIndex 008" 0x1802:09, r-r-r-, bool, 1 bit, "TxPDO Toggle" SDO 0x1a00, "DI TxPDO-Map" 0x1a00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1a00:01, r-r-r-, uint32, 32 bit, "SubIndex 001" 0x1a00:02, r-r-r-, uint32, 32 bit, "SubIndex 002" 0x1a00:03, r-r-r-, uint32, 32 bit, "SubIndex 003" 0x1a00:04, r-r-r-, uint32, 32 bit, "SubIndex 004" 0x1a00:05, r-r-r-, uint32, 32 bit, "SubIndex 005" 0x1a00:06, r-r-r-, uint32, 32 bit, "SubIndex 006" 0x1a00:07, r-r-r-, uint32, 32 bit, "SubIndex 007" 0x1a00:08, r-r-r-, uint32, 32 bit, "SubIndex 008" 0x1a00:09, r-r-r-, uint32, 32 bit, "SubIndex 009" SDO 0x1a02, "AI TxPDO-Map" 0x1a02:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1a02:01, r-r-r-, uint32, 32 bit, "SubIndex 001" 0x1a02:02, r-r-r-, uint32, 32 bit, "SubIndex 002" 0x1a02:03, r-r-r-, uint32, 32 bit, "SubIndex 003" 0x1a02:04, r-r-r-, uint32, 32 bit, "SubIndex 004" 0x1a02:05, r-r-r-, uint32, 32 bit, "SubIndex 005" 0x1a02:06, r-r-r-, uint32, 32 bit, "SubIndex 006" 0x1a02:07, r-r-r-, uint32, 32 bit, "SubIndex 007" 0x1a02:08, r-r-r-, uint32, 32 bit, "SubIndex 008" 0x1a02:09, r-r-r-, uint32, 32 bit, "SubIndex 009" 0x1a02:0a, r-r-r-, uint32, 32 bit, "SubIndex 010" SDO 0x1c00, "Sync manager type" 0x1c00:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c00:01, r-r-r-, uint8, 8 bit, "SubIndex 001" 0x1c00:02, r-r-r-, uint8, 8 bit, "SubIndex 002" 0x1c00:03, r-r-r-, uint8, 8 bit, "SubIndex 003" 0x1c00:04, r-r-r-, uint8, 8 bit, "SubIndex 004" SDO 0x1c12, "RxPDO assign" 0x1c12:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c12:01, r-r-r-, uint16, 16 bit, "SubIndex 001" SDO 0x1c13, "TxPDO assign" 0x1c13:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c13:01, r-r-r-, uint16, 16 bit, "SubIndex 001" 0x1c13:02, r-r-r-, uint16, 16 bit, "SubIndex 002" SDO 0x1c32, "SM output parameter" 0x1c32:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c32:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c32:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c32:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c32:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c32:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c32:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c32:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c32:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c32:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c32:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c32:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c32:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c32:0d, ------, type 0000, 16 bit, "Shift Time Too Short" 0x1c32:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c32:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c32:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c32:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c32:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c32:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c32:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c32:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c32:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c32:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c32:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c32:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c32:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c32:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c32:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c32:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c32:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c32:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c32:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x1c33, "SM input parameter" 0x1c33:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x1c33:01, rwr-r-, uint16, 16 bit, "Synchronization Type" 0x1c33:02, r-r-r-, uint32, 32 bit, "Cycle Time" 0x1c33:03, ------, type 0000, 32 bit, "SubIndex 003" 0x1c33:04, r-r-r-, uint16, 16 bit, "Synchronization Types supported" 0x1c33:05, r-r-r-, uint32, 32 bit, "Minimum Cycle Time" 0x1c33:06, r-r-r-, uint32, 32 bit, "Calc and Copy Time" 0x1c33:07, ------, type 0000, 32 bit, "SubIndex 007" 0x1c33:08, rwrwrw, uint16, 16 bit, "Get Cycle Time" 0x1c33:09, r-r-r-, uint32, 32 bit, "Delay Time" 0x1c33:0a, rwrwrw, uint32, 32 bit, "Sync0 Cycle Time" 0x1c33:0b, r-r-r-, uint16, 16 bit, "SM-Event Missed" 0x1c33:0c, r-r-r-, uint16, 16 bit, "Cycle Time Too Small" 0x1c33:0d, ------, type 0000, 16 bit, "Shift Time Too Short" 0x1c33:0e, ------, type 0000, 16 bit, "SubIndex 014" 0x1c33:0f, ------, type 0000, 32 bit, "SubIndex 015" 0x1c33:10, ------, type 0000, 32 bit, "SubIndex 016" 0x1c33:11, ------, type 0000, 32 bit, "SubIndex 017" 0x1c33:12, ------, type 0000, 32 bit, "SubIndex 018" 0x1c33:13, ------, type 0000, 0 bit, "SubIndex 019" 0x1c33:14, ------, type 0000, 0 bit, "SubIndex 020" 0x1c33:15, ------, type 0000, 0 bit, "SubIndex 021" 0x1c33:16, ------, type 0000, 0 bit, "SubIndex 022" 0x1c33:17, ------, type 0000, 0 bit, "SubIndex 023" 0x1c33:18, ------, type 0000, 0 bit, "SubIndex 024" 0x1c33:19, ------, type 0000, 0 bit, "SubIndex 025" 0x1c33:1a, ------, type 0000, 0 bit, "SubIndex 026" 0x1c33:1b, ------, type 0000, 0 bit, "SubIndex 027" 0x1c33:1c, ------, type 0000, 0 bit, "SubIndex 028" 0x1c33:1d, ------, type 0000, 0 bit, "SubIndex 029" 0x1c33:1e, ------, type 0000, 0 bit, "SubIndex 030" 0x1c33:1f, ------, type 0000, 0 bit, "SubIndex 031" 0x1c33:20, r-r-r-, bool, 1 bit, "Sync Error" SDO 0x6000, "DI Inputs" 0x6000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6000:01, r-r-r-, bool, 1 bit, "Switch 1" 0x6000:02, r-r-r-, bool, 1 bit, "Switch 2" 0x6000:03, r-r-r-, bool, 1 bit, "Switch 3" 0x6000:04, r-r-r-, bool, 1 bit, "Switch 4" 0x6000:05, r-r-r-, bool, 1 bit, "Switch 5" 0x6000:06, r-r-r-, bool, 1 bit, "Switch 6" 0x6000:07, r-r-r-, bool, 1 bit, "Switch 7" 0x6000:08, r-r-r-, bool, 1 bit, "Switch 8" SDO 0x6020, "AI Inputs" 0x6020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x6020:01, r-r-r-, bool, 1 bit, "Underrange" 0x6020:02, r-r-r-, bool, 1 bit, "Overrange" 0x6020:03, r-r-r-, type 0031, 2 bit, "Limit 1" 0x6020:04, ------, type 0000, 0 bit, "SubIndex 004" 0x6020:05, r-r-r-, type 0031, 2 bit, "Limit 2" 0x6020:06, ------, type 0000, 2 bit, "SubIndex 006" 0x6020:07, ------, type 0000, 6 bit, "SubIndex 007" 0x6020:08, ------, type 0000, 0 bit, "SubIndex 008" 0x6020:09, ------, type 0000, 0 bit, "SubIndex 009" 0x6020:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x6020:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x6020:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x6020:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x6020:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x6020:0f, r-r-r-, bool, 1 bit, "TxPDO State" 0x6020:10, r-r-r-, bool, 1 bit, "TxPDO Toggle" 0x6020:11, r-r-r-, int16, 16 bit, "Analog input" 0x6020:12, r-r-r-, int16, 16 bit, "Temp" 0x6020:13, r-r-r-, int16, 16 bit, "Hum" SDO 0x7010, "DO Outputs" 0x7010:00, rwrwrw, uint8, 8 bit, "SubIndex 000" 0x7010:01, rwrwrw, bool, 1 bit, "LED 1" 0x7010:02, rwrwrw, bool, 1 bit, "LED 2" 0x7010:03, rwrwrw, bool, 1 bit, "LED 3" 0x7010:04, rwrwrw, bool, 1 bit, "LED 4" 0x7010:05, rwrwrw, bool, 1 bit, "LED 5" 0x7010:06, rwrwrw, bool, 1 bit, "LED 6" 0x7010:07, rwrwrw, bool, 1 bit, "LED 7" 0x7010:08, rwrwrw, bool, 1 bit, "LED 8" SDO 0x8020, "AI Settings" 0x8020:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0x8020:01, rwrwrw, bool, 1 bit, "Enable user scale" 0x8020:02, rwrwrw, type 0800, 3 bit, "Presentation" 0x8020:03, ------, type 0000, 0 bit, "SubIndex 003" 0x8020:04, ------, type 0000, 0 bit, "SubIndex 004" 0x8020:05, ------, type 0000, 2 bit, "SubIndex 005" 0x8020:06, ------, type 0000, 0 bit, "SubIndex 006" 0x8020:07, rwrwrw, bool, 1 bit, "Enable limit 1" 0x8020:08, rwrwrw, bool, 1 bit, "Enable limit 2" 0x8020:09, ------, type 0000, 8 bit, "SubIndex 009" 0x8020:0a, ------, type 0000, 0 bit, "SubIndex 010" 0x8020:0b, ------, type 0000, 0 bit, "SubIndex 011" 0x8020:0c, ------, type 0000, 0 bit, "SubIndex 012" 0x8020:0d, ------, type 0000, 0 bit, "SubIndex 013" 0x8020:0e, ------, type 0000, 0 bit, "SubIndex 014" 0x8020:0f, ------, type 0000, 0 bit, "SubIndex 015" 0x8020:10, ------, type 0000, 0 bit, "SubIndex 016" 0x8020:11, rwrwrw, int16, 16 bit, "Offset" 0x8020:12, rwrwrw, int32, 32 bit, "Gain" 0x8020:13, rwrwrw, int16, 16 bit, "Limit 1" 0x8020:14, rwrwrw, int16, 16 bit, "Limit 2" SDO 0xf000, "Modular device profile" 0xf000:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf000:01, r-r-r-, uint16, 16 bit, "Module index distance" 0xf000:02, r-r-r-, uint16, 16 bit, "Maximum number of modules" SDO 0xf010, "Module profile list" 0xf010:00, r-r-r-, uint8, 8 bit, "SubIndex 000" 0xf010:01, r-r-r-, uint32, 32 bit, "SubIndex 001" 0xf010:02, r-r-r-, uint32, 32 bit, "SubIndex 002" 0xf010:03, r-r-r-, uint32, 32 bit, "SubIndex 003" root@linaro-ubuntu-desktop:~# ethercat cstruct -a 0 -p 0 /* Master 0, Slave 0, "TempHumi" * Vendor ID: 0x00000017 * Product code: 0x26483056 * Revision number: 0x00020111 */ ec_pdo_entry_info_t slave_0_pdo_entries[] = { {0x7010, 0x01, 1}, /* LED 1 */ {0x7010, 0x02, 1}, /* LED 2 */ {0x7010, 0x03, 1}, /* LED 3 */ {0x7010, 0x04, 1}, /* LED 4 */ {0x7010, 0x05, 1}, /* LED 5 */ {0x7010, 0x06, 1}, /* LED 6 */ {0x7010, 0x07, 1}, /* LED 7 */ {0x7010, 0x08, 1}, /* LED 8 */ {0x0000, 0x00, 8}, /* Gap */ {0x6000, 0x01, 1}, /* Switch 1 */ {0x6000, 0x02, 1}, /* Switch 2 */ {0x6000, 0x03, 1}, /* Switch 3 */ {0x6000, 0x04, 1}, /* Switch 4 */ {0x6000, 0x05, 1}, /* Switch 5 */ {0x6000, 0x06, 1}, /* Switch 6 */ {0x6000, 0x07, 1}, /* Switch 7 */ {0x6000, 0x08, 1}, /* Switch 8 */ {0x0000, 0x00, 8}, /* Gap */ {0x6020, 0x01, 1}, /* Underrange */ {0x6020, 0x02, 1}, /* Overrange */ {0x6020, 0x03, 2}, /* Limit 1 */ {0x6020, 0x05, 2}, /* Limit 2 */ {0x0000, 0x00, 8}, /* Gap */ {0x1802, 0x07, 1}, /* TxPDOState */ {0x1802, 0x09, 1}, /* TxPDO Toggle */ {0x6020, 0x11, 16}, /* Analog input */ {0x6020, 0x12, 16}, /* Temp */ {0x6020, 0x13, 16}, /* Hum */ }; ec_pdo_info_t slave_0_pdos[] = { {0x1601, 9, slave_0_pdo_entries + 0}, /* DO RxPDO-Map */ {0x1a00, 9, slave_0_pdo_entries + 9}, /* DI TxPDO-Map */ {0x1a02, 10, slave_0_pdo_entries + 18}, /* AI TxPDO-Map */ }; ec_sync_info_t slave_0_syncs[] = { {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE}, {3, EC_DIR_INPUT, 2, slave_0_pdos + 1, EC_WD_DISABLE}, {0xff} }; **************************************************************************************************************************** wireshark 抓包分析 过滤器 ecat ecat协议 ecat and ecat.cmd==0x0b ecat and ecat.cmd==0x0c ecat协议 且cmd=0x0b(LWR) ecat_mailbox.coe.sdoreq 过滤SDO请求
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1. libethercat\std 目录
编译Igh生成的ethecat库
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2. libethercat\include
Igh Master Ethercat库包含的头文件
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3. scripts/
自动生成从站信息的相关脚本文件，要生成从站信息，将该文件夹复制到开发板运行GenerateSlavesConfig.sh。
默认生成ec_common_configs_define.h和ec_common_configs_define.c文件，这两个文件会在libethercat\ec_common\ecat_common.c,libethercat\ec_common\ecat_common.h相关接口使用。
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4. libethercat\ec_common
4.0
ec_common_configs_define.h
ec_common_configs_define.c
由脚本scripts/GenerateSlavesConfig.sh自动生成的从站信息，包括从站PDO,SDO设置
等，更具体的可以参照scripts/README.txt
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4.1
ecat_common.h
ecat_common.c
基于ibethercat\std 中的库的二次封装库,简化了PDO,SDO等操作
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4.2
ecat_common_intermediate_interface.h
ecat_common_intermediate_interface.c
与具体厂商相关的接口库，基于ecat_common.c中接口的实现，不同设备修改这两个文件中的接口进行适配。
目前该文件实现的山羊电机接口。主要实现的PDO接口的电机状态查询，上电开机，关机，操作模式设置，力矩设置等接口，不同电机的类似接口可以参照该文件实现,接口作用见名知意。
封装接口的关键是对象字典的操作，根据手册设置对象字典即可，标准的Ethercat接口伺服电机一般来说对象字典定义基本是一样的，可能稍微有差别
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5. 标准Igh Master接口的使用例子
mytest目录
mytest/test_torque_sanyo_ioctl
基于ioctl接口的sanyo电机测试例子
mytest/test_torque_tec_ioctl
基于ioctl接口的泰科电机电机测试例子
mytest/test_torque_tec_lib
基于libethercat\std库接口的电机测试例子
mytest/test_torque2
基于libethercat\std库接口的电机测试例子2
mytest/test_io_board
ET1100,IO板的测试例子
基于标准的Igh 库及iotcl接口可以参照该文件夹例子
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6.二次封装接口库ecat_common_intermediate_interface.c的使用说明
6.1使用步骤
(1)将编译生成的Igh库文件替换libethercat\std文件， 文件名可能要改成，或者不该也行，自己写Makefile时匹配库名称就行
(2)将 scripts/ 目录复制到开发运行GenerateSlavesConfig.sh脚本，将脚本生成的ec_common_configs_define.h ec_common_configs_define.h 复制到libethercat\ec_common 文件夹
(3)基于二次封装接口的电机一般操作步骤
参照demo.c中的ethercat_init() 进行从站初始化
初始化后就可以调用ecat_common_intermediate_interface.c中接口对从站进行操作
比如
interpolation_2_ecat_set_slave_pwr_on()接口使能电机，
interpolation_2_ecat_set_slave_pwr_off() 关闭电机
interpolation_2_ecat_set_slave_target_pos() 设置目标位置，对应位置模式操作
其它接口作用见参照具体实现
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7.关于轴操作的几点说明
（1）每个轴对应一个从站，由alias，position确定，一般来说从站不多时alias=0固定不变，对不同轴根据positon确定。
例如使能和关闭不同的轴
int interpolation_2_ecat_set_slave_pwr_on(MasterSpecifiedInfo_T *master_specified_info, int slave_pos);
int interpolation_2_ecat_set_slave_pwr_off(MasterSpecifiedInfo_T *master_specified_info, int slave_pos);
中slave_pos参数就对应不同的轴，slave_pos=0,axis1 slave_pos=1,axis2...
（2）设置不同轴的操作模式,位置，力矩，速度模式
int interpolation_2_ecat_set_slave_operation_model(MasterSpecifiedInfo_T *master_specified_info, int slave_pos, unsigned char operation_model)
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Igh Master 1.5.2 源码
ethercat-1.5.2.zip
Igh Master 1.5.2 ethercat-1.5.2/源码编译安装说明文件.txt
EtherCAT 1.5.2 编译及使用说明.txt 1.交叉编译源码 源码中有内核模块编译，指令定模块目录 根据实际情况修改build_ethercat-1.5.2.sh中以下几个变量: output_dir='output' #编译输出目录 module_install_dir='module_install' #内核模块安装目录 kernel_source_dir='/mnt/fs_ext/imx6/linux-3.0.35' #内核源码目录 lib_modules_kernel_promt='3.0.35-2666-gbdde708' #内核版本号 host=arm-fsl-linux-gnueabi #交叉编译链前缀 注意要先编译内核，然后编译Ethrecat因为Ethercat依赖于内核通用网卡模块 以root用户运行./build_ethercat-1.5.2.sh #编译具体根据提示选择y/n就可以了 ---------------------------------------------------------------------------------------------------------------------------------------------- 手动安装Ethercat到ARM开发板: 2.内核模块安装 2.1 将output文件下通lib_modules_kernel_promt='3.0.35-2666-gbdde708'(build_ethercat-1.5.2.sh 中定义)放入开发板/lib/modules下 2.2 开发板中执行"depmod"命令 3. output里面的其它文件放入开发板对应位置 4. 设置参数 修改/etc/sysconfig/ethercat MASTER0_DEVICE="e4:f3:f5:c6:41:b6" #与ethercat绑定的Mac地址 DEVICE_MODULES="generic" #通用网卡就填generic，其余支持网卡换成模块名字就行 5.添加udev规则 echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules 6. 启动服务 /etc/init.d/ethercat restart 出现以下信息表明移植成功 Shutting down EtherCAT master 1.5.2 done Starting EtherCAT master 1.5.2 ec_generic: Binding socket to interface 3 (eth0). done 7. 应用层测试 root@linaro-ubuntu-desktop:~# ethercat Please specify a command! Usage: ethercat <COMMAND> [OPTIONS] [ARGUMENTS] Commands (can be abbreviated): alias Write alias addresses. config Show slave configurations. cstruct Generate slave PDO information in C language. data Output binary domain process data. debug Set the master's debug level. domains Show configured domains. download Write an SDO entry to a slave. eoe Display Ethernet over EtherCAT statictics. foe_read Read a file from a slave via FoE. foe_write Store a file on a slave via FoE. graph Output the bus topology as a graph. master Show master and Ethernet device information. pdos List Sync managers, PDO assignment and mapping. reg_read Output a slave's register contents. reg_write Write data to a slave's registers. rescan Rescan the bus. sdos List SDO dictionaries. sii_read Output a slave's SII contents. sii_write Write SII contents to a slave. slaves Display slaves on the bus. soe_read Read an SoE IDN from a slave. soe_write Write an SoE IDN to a slave. states Request application-layer states. upload Read an SDO entry from a slave. version Show version information. xml Generate slave information XML. Global options: --master -m <master> Comma separated list of masters to select, ranges are allowed. Examples: '1,3', '5-7,9', '-3'. Default: '-' (all). --force -f Force a command. --quiet -q Output less information. --verbose -v Output more information. --help -h Show this help. Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x') base. Call 'ethercat <COMMAND> --help' for command-specific help. 以上内容为基本的使用，进一步使用要结合ethercat说明文档和电机说明。 ---------------------------------------------------------------------------------------------------------------------------------------------- 自动安装Ethercat到ARM开发板: 将output目录复制到开发板然后运行output目录下install_to_arm.sh脚本 执行6，7步骤测试自动安装是否成功 ---------------------------------------------------------------------------------------------------------------------------------------------- 问题汇总: (1)Starting EtherCAT master 1.5.2 EtherCAT ERROR: MAC address may not be empty. FATAL: Error inserting ec_master (/lib/modules/3.0.35-2666-gbdde708-gbdbf2583/mnt/hgfs/win_linux_share/linux/download/ethercat-1.5.2/module_install/master/ec_master.ko): Invalid argument failed Mac地址为空，将对应的mac地址MASTER0_DEVICE="e4:f3:f5:c6:41:b6" (2)编译Ethercat 一定要保证所用编译器与内核与硬件平台一致，否则会出现内核模块不能使用或者其它未知问题 (3)内核源码要先编译通过，否则Ethercat模块将不能编译通过，因为Ethercat模块依赖于内核本身驱动模块。
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