EetherCat Igh 常用指令

1.   **ethercat slaves** 显示所有从站详细信息

```bash
   pi@raspberrypi:~ $ sudo ethercat slaves -v
   === Master 0, Slave 0 ===
   Device: Main
   State: SAFEOP
   Flag: E
   Identity:
     Vendor Id:       0x00100000
     Product code:    0x000c0112
     Revision number: 0x00010000
     Serial number:   0x00000000
   DL information:
     FMMU bit operation: yes
     Distributed clocks: yes, 64 bit
     DC system time transmission delay: 0 ns
   Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
      0  MII   up    open    yes             -   3619283650           0           0
      1  MII   down  closed  no              -            -           -           -
      2  N/A   down  closed  no              -            -           -           -
      3  N/A   down  closed  no              -            -           -           -
   Mailboxes:
     Bootstrap RX: 0x0000/0, TX: 0x0000/0
     Standard  RX: 0x1000/256, TX: 0x1400/256
     Supported protocols: EoE, CoE
   General:
     Group: InoServo
     Image name: 
     Order number: InoSV630N
     Device name: SV630_1Axis_03716
     CoE details:
       Enable SDO: yes
       Enable SDO Info: no
       Enable PDO Assign: yes
       Enable PDO Configuration: yes
       Enable Upload at startup: no
       Enable SDO complete access: no
     Flags:
       Enable SafeOp: no
       Enable notLRW: no
     Current consumption: 0 mA
   ```

2.  **ethercat cstruct** 生成的PDO信息可以直接被应用层的ecrt_slave_config_pdos()函数调用

```bash
   root@raspberrypi:/home/pi# ethercat cstruct
   /* Master 0, Slave 0, "InoSV630N"
    * Vendor ID:       0x00100000
    * Product code:    0x000c0112
    * Revision number: 0x00010000
    */
   
   ec_pdo_entry_info_t slave_0_pdo_entries[] = {
       {0x6040, 0x00, 16},
       {0x607a, 0x00, 32},
       {0x60b8, 0x00, 16},
       {0x60fe, 0x01, 32},
       {0x603f, 0x00, 16},
       {0x6041, 0x00, 16},
       {0x6064, 0x00, 32},
       {0x6077, 0x00, 16},
       {0x60f4, 0x00, 32},
       {0x60b9, 0x00, 16},
       {0x60ba, 0x00, 32},
       {0x60bc, 0x00, 32},
       {0x60fd, 0x00, 32},
   };
   
   ec_pdo_info_t slave_0_pdos[] = {
       {0x1701, 4, slave_0_pdo_entries + 0},
       {0x1b01, 9, slave_0_pdo_entries + 4},
   };
   
   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, 1, slave_0_pdos + 1, EC_WD_DISABLE},
       {0xff}
   };
   ```

3.   命令行使能电机

```bash
     # 发送控制字0x6040
     root@raspberrypi:/home/pi/ethercat/examples/user# ethercat download -t uint16 -p 0 0x6040 00 06
     root@raspberrypi:/home/pi/ethercat/examples/user# ethercat download -t uint16 -p 0 0x6040 00 07
     root@raspberrypi:/home/pi/ethercat/examples/user# ethercat download -t uint16 -p 0 0x6040 00 0x0f
     
     # 读取状态字0x6041
     root@raspberrypi:/home/pi/ethercat/examples/user# ethercat upload -t uint16 -p 0 0x6041 00
     0x1650 5712
     ```

# 参考文档

[SV660N伺服通讯线RS232转RJ45接线](http://101.37.64.70/t-9145.html)

[IGH_Master主站配置驱动伺服电机和变频器总结](https://blog.csdn.net/qq_44442314/article/details/109965345)

[EtherCAT开源主站 IGH 介绍及主站伺服控制过程](https://blog.csdn.net/yyz_1987/article/details/136736892)

[EtherCAT IGH 命令行介绍](https://blog.csdn.net/u014077947/article/details/127489297)

[**[重点参考] 基于linux环境和ethecat的igh库控制汇川620N的主站代码**](https://blog.csdn.net/weixin_42186805/article/details/108603423)

[**ubuntu22.04下Ethercat IGH DC同步实现**](https://blog.csdn.net/LLiu_M__/article/details/127263168)