EtherCAT主站SOEM -- 1 -- SOEM之ethercattype.h文件分析
- 0 QT-SOEM及STM32F767-SOEM视频欣赏及源代码链接:
- 一 文件功能预览:
- 二 该文件重要功能介绍:
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- 1. 返回值定义 (Return Values)
- 2. EtherCAT 命令类型定义 (EtherCAT Command Types)
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- 2.2.1 EC_CMD_NOP (No Operation)
- 2.2.2 EC_CMD_APRD (Auto Increment Read)
- 2.2.3 EC_CMD_APWR (Auto Increment Write)
- 2.2.4 EC_CMD_APRW (Auto Increment Read Write)
- 2.2.5 EC_CMD_FPRD (Configured Address Read)
- 2.2.6 EC_CMD_FPWR (Configured Address Write)
- 2.2.7 EC_CMD_FPRW (Configured Address Read Write)
- 2.2.8 EC_CMD_BRD (Broadcast Read)
- 2.2.9 EC_CMD_BWR (Broadcast Write)
- 2.2.10 EC_CMD_BRW (Broadcast Read Write)
- 2.2.11 EC_CMD_LRD (Logical Memory Read)
- 2.2.12 EC_CMD_LWR (Logical Memory Write)
- 2.2.13 EC_CMD_LRW (Logical Memory Read Write)
- 2.2.14 EC_CMD_ARMW (Auto Increment Read Multiple Write)
- 2.2.15 EC_CMD_FRMW (Configured Read Multiple Write)
- 3. 数据类型定义 (Data Types)
- 4. EtherCAT 状态定义 (EtherCAT States)
- 5. 数据帧缓冲状态定义 (Buffer States)
- 6. 错误类型定义 (Error Types)
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- 2.6.1 EC_ERR_TYPE_SDO_ERROR (SDO Error)
- 2.6.2 EC_ERR_TYPE_EMERGENCY (Emergency)
- 2.6.3 EC_ERR_TYPE_PACKET_ERROR (Packet Error)
- 2.6.4 EC_ERR_TYPE_SDOINFO_ERROR (SDO Info Error)
- 2.6.5 EC_ERR_TYPE_FOE_ERROR (File Access over EtherCAT Error)
- 2.6.6 EC_ERR_TYPE_FOE_BUF2SMALL (FOE Buffer Too Small)
- 2.6.7 EC_ERR_TYPE_FOE_PACKETNUMBER (FOE Packet Number Error)
- 2.6.8 EC_ERR_TYPE_SOE_ERROR (Service Over EtherCAT Error)
- 2.6.9 EC_ERR_TYPE_MBX_ERROR (Mailbox Error)
- 2.6.10 EC_ERR_TYPE_FOE_FILE_NOTFOUND (FOE File Not Found)
- 2.6.11 EC_ERR_TYPE_EOE_INVALID_RX_DATA (EOE Invalid Receive Data)
- 7. EtherCAT 寄存器 (EtherCAT Registers)
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- 2.7.1 ECT_REG_TYPE
- 2.7.2 ECT_REG_PORTDES
- 2.7.3 ECT_REG_ESCSUP
- 2.7.4 ECT_REG_STADR
- 2.7.5 ECT_REG_ALIAS
- 2.7.6 ECT_REG_DLCTL
- 2.7.7 ECT_REG_DLPORT
- 2.7.8 ECT_REG_DLALIAS
- 2.7.9 ECT_REG_DLSTAT
- 2.7.10 ECT_REG_ALCTL
- 2.7.11 ECT_REG_ALSTAT
- 2.7.12 ECT_REG_ALSTATCODE
- 2.7.13 ECT_REG_PDICTL
- 2.7.14 ECT_REG_IRQMASK
- 2.7.15 ECT_REG_RXERR
- 2.7.16 ECT_REG_FRXERR
- 2.7.17 ECT_REG_EPUECNT
- 2.7.18 ECT_REG_PECNT
- 2.7.19 ECT_REG_PECODE
- 2.7.20 ECT_REG_LLCNT
- 2.7.21 ECT_REG_WDCNT
- 2.7.22 ECT_REG_EEPCFG
- 2.7.23 ECT_REG_EEPCTL
- 2.7.24 ECT_REG_EEPSTAT
- 2.7.25 ECT_REG_EEPADR
- 2.7.26 ECT_REG_EEPDAT
- 2.7.27 ECT_REG_FMMU0, 2.7.28 ECT_REG_FMMU1, 2.7.29 ECT_REG_FMMU2, 2.7.30 ECT_REG_FMMU3
- 2.7.31 ECT_REG_SM0, 2.7.32 ECT_REG_SM1, 2.7.33 ECT_REG_SM2, 2.7.34 ECT_REG_SM3
- 2.7.35 ECT_REG_SM0STAT, 2.7.36 ECT_REG_SM1STAT
- 2.7.37 ECT_REG_SM1ACT, 2.7.38 ECT_REG_SM1CONTR
- 2.7.39 ECT_REG_DCTIME0, 2.7.40 ECT_REG_DCTIME1, 2.7.41 ECT_REG_DCTIME2, 2.7.42 ECT_REG_DCTIME3
- 2.7.43 ECT_REG_DCSYSTIME, 2.7.44 ECT_REG_DCSOF
- 2.7.45 ECT_REG_DCSYSOFFSET, 2.7.46 ECT_REG_DCSYSDELAY, 2.7.47 ECT_REG_DCSYSDIFF
- 2.7.48 ECT_REG_DCSPEEDCNT
- 2.7.49 ECT_REG_DCTIMEFILT
- 2.7.50 ECT_REG_DCCUC
- 2.7.51 ECT_REG_DCSYNCACT
- 2.7.52 ECT_REG_DCSTART0, 2.7.53 ECT_REG_DCCYCLE0, 2.7.54 ECT_REG_DCCYCLE1
- 8. 包类型 (Packet Types)
- 9. Helper 宏 (Helper Macros)
- 三 ethercattype.h 原文件的中文注释
- 该文档修改记录:
- 总结
- 上下博客链接
0 QT-SOEM及STM32F767-SOEM视频欣赏及源代码链接:
0.1 QT-SOEM博客、视频欣赏及源代码链接
特别注意 PS:
关于源代码说明一下,如果你订阅 我这个专栏 EtherCAT主站SOEM ,可以按照这篇博客配置主站,EtherCAT主站SOEM – 9 – SOEM之基于QT搭建自己的EtherCAT主站 ,只要跟从站能到OP状态,就能使用我的博客里面提供 控制IO模块和电机源代码,从相关博客里面复制代码 ,需要修改一下向自己的工程靠,确保编译通过。 EtherCAT主站SOEM – 13 --Qt-Soem通过界面按键控制 EtherCAT IO模块的io输出 。
如果你觉得麻烦或者繁琐,可以直接下载我提供的 Soem-跟从站通讯到OP状态 整个项目源代码 Soem-跟从站通讯到OP状态-添加代码注释-CSDN - EtherCAT主站-SOEM专栏的源代码 ; 后面控制IO模块和控制电机的相关功能,只需要从相关博客里面复制代码替换即可使用, 这个项目源代码( Soem-跟从站通讯到OP状态)的模板都是已经调整好的