{"id":320,"date":"2020-05-08T23:56:00","date_gmt":"2020-05-08T15:56:00","guid":{"rendered":"http:\/\/www.rtplc.com\/?p=320"},"modified":"2020-05-23T20:20:27","modified_gmt":"2020-05-23T12:20:27","slug":"pi-ecr60","status":"publish","type":"post","link":"http:\/\/www.rtplc.com\/index.php\/2020\/05\/08\/pi-ecr60\/","title":{"rendered":"Raspberry PI + Codesys + EtherCAT\u6b65\u8fdb\u9a71\u52a8ECR60"},"content":{"rendered":"\n

EtherCAT\u9010\u6e10\u6210\u4e3a\u5de5\u4e1a\u63a7\u5236\u7684\u4e3b\u6d41\u603b\u7ebf\uff0c\u672c\u8282\u91c7\u7528\u6811\u8393\u6d3e4B\u786c\u4ef6\uff0c\u5b89\u88c5Codesys\u652f\u6301\u5e93\uff0c\u91c7\u7528EtherCAT\u901a\u8baf\u65b9\u5f0f\uff0c\u63a7\u5236\u9510\u7279\u673a\u7535<\/span><\/a>\u7684\u603b\u7ebf\u6b65\u8fdb\u9a71\u52a8\u5668ECR60\uff0c\u5b9e\u73b0\u5bf9\u6b65\u8fdb\u7535\u673a\u7684\u8fd0\u52a8\u63a7\u5236\u3002<\/p>\n\n\n\n

\u4e3b\u8981\u53c2\u8003\uff1ahttp:\/\/bbs.hicodesys.com\/thread-7357-1-1.html<\/span><\/a><\/p>\n\n\n\n

\u4e00\u3001Codesys\u73af\u5883\u5b89\u88c5<\/h2>\n\n\n\n

1\u3001\u524d\u5f80\u4e2d\u6587\u5b98\u7f51<\/span><\/a>\u4e0b\u8f7d\u6700\u65b0\u7684Codesys\u73af\u5883\uff0c\u6309\u7167\u63d0\u793a\u5b8c\u6210\u5b89\u88c5\u3002<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

2\u3001\u4e0b\u8f7d\u6811\u8393\u6d3e\u8fd0\u884c\u73af\u5883\uff1aCODESYS Control for Raspberry PI 3.5.16.0<\/p>\n\n\n\n

3\u3001\u5728codesys\u4e2d\u5b89\u88c5Raspberry PI package\uff0c\u70b9\u51fb\u201cInstall\u201d\uff0c\u9009\u62e9\u4e0b\u8f7d\u597d\u7684package\uff0c\u7b49\u7b49\u5b89\u88c5\u5b8c\u6210\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

4\u3001\u65b0\u5efa\u9879\u76ee\uff0c\u9009\u62e9\u597d\u9879\u76ee\u540d\u79f0\u548c\u8def\u5f84\uff0c\u63a5\u4e0b\u6765\u9009\u62e9\u6811\u8393\u6d3e\u4f5c\u4e3a\u4e3b\u673a\uff0c<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\u5728\u9879\u76ee\u4e2d\uff0c\u9996\u5148\u5b89\u88c5raspberry \u652f\u6301\u5e93\u5230\u6811\u8393\u6d3e\uff0c<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n

\u8bbe\u7f6e\u597d\u6811\u8393\u6d3e\u7528\u6237\u540d\uff0c\u5bc6\u7801\uff0cIP\u5730\u5740\uff0c\u70b9\u51fb\u201cInstall\u201d\u5373\u53ef\uff0c\u7b49\u7b49\u5b89\u88c5\u5b8c\u6210<\/p>\n\n\n\n

5\u3001\u626b\u63cf\u6811\u8393\u6d3e\u4e3b\u673a\uff0c\u9009\u62e9\u5bf9\u5e94\u7684\u6811\u8393\u6d3e\u8bbe\u5907\u5373\u53ef\u3002<\/p>\n\n\n\n

\"\"
\u626b\u63cfRaspberry<\/figcaption><\/figure>\n\n\n\n

6\u3001\u6dfb\u52a0\u6df1\u5733\u9510\u7279\u673a\u7535\u6280\u672f\u6709\u9650\u516c\u53f8\u7684EtherCAT\u6b65\u8fdb\u9a71\u52a8\u5668ECR60\u63cf\u8ff0\u6587\u4ef6<\/a>\u3002<\/p>\n\n\n\n

\u5728Tool -> Device Repository\uff0c\u4e2d\u201cInstall\u201d\uff0c\u9009\u62e9\u5bf9\u5e94\u7684ECR60V200.xml\u6587\u4ef6\uff0c\u5b89\u88c5\u5b8c\u6210\u540e\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

7\u3001\u6dfb\u52a0EtherCAT Master\u4e3b\u5360\uff0c\u5728Device\u53f3\u952e\u201cAdd Device\u201d\uff0c\u9009\u62e9\u201cEtherCAT Master\u201d\u3002\u53cc\u51fb\u201cEtherCAT_Master\u201d\u8fdb\u884c\u8bbe\u7f6e\uff0c\u9009\u62e9\u7f51\u53e3\u4e3a”eth0″\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u4e8c\u3001EtherCAT\u9a71\u52a8\u5668\u53ca\u6811\u8393\u6d3e\u51c6\u5907<\/h2>\n\n\n\n

2.1 \u5c06ECR60\u8fde\u63a5\u597d\u7535\u6e90\uff0cEtherCAT In\u7f51\u53e3\u901a\u8fc7\u7f51\u7ebf\u8fde\u63a5\u81f3\u6811\u8393\u6d3e\u7684\u6709\u7ebf\u7f51\u53e3\uff0c\u4fdd\u6301\u65e0\u7ebf\u7f51\u7edc\u8fde\u63a5\uff0c\u8bb0\u5f55\u4e0b\u6b64\u65f6\u7684IP\u5730\u5740\u3002<\/p>\n\n\n\n

2.2 \u63a5\u597d\u7535\u673a<\/p>\n\n\n\n

2.3 \u7ed9\u9a71\u52a8\u5668\u901a\u7535\uff0c\u6b64\u65f6\u9a71\u52a8\u5668\u7684PWR\u7eff\u8272\u706f\u5e38\u4eae\uff0c\u7f51\u53e3\u7684\u6a59\u8272\u706f\u4eae\u8d77\uff0c\u8868\u793a\u7f51\u7ebf\u8fde\u63a5\u6b63\u5e38\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

2.4 \u626b\u9762\u6b65\u8fdb\u9a71\u52a8\u5668\u3002Online —> Login\u3002\u7136\u540e\u518dEther_Master \u9009\u9879\uff0c\u53f3\u952e\u201cScan devices\u201d\uff0c\u5982\u4e0b\u56fe\uff0c\u53ef\u4ee5\u67e5\u627e\u5230ECR60\u9a71\u52a8\u5668\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u9009\u62e9\u9a71\u52a8\u5668\uff0c\u70b9\u51fb\u201cCopy device to project\u201d\uff0c\u5c06\u9a71\u52a8\u5668\u6dfb\u52a0\u5230\u9879\u76ee\u4e2d\u3002<\/p>\n\n\n\n

2.5 ECR60\u8bbe\u7f6e<\/p>\n\n\n\n

\u672c\u5355\u5143\u9996\u5148\u8fdb\u884c\u7b80\u5355\u7684EtherCAT IO\u6d4b\u8bd5\u3002ECR60\u5177\u67096\u4e2a\u5149\u7535\u9694\u79bb\u7684\u8f93\u5165\u3002IN3~IN6\u8f93\u5165\u7aef\u53e3\u5171\u9633\u63a5\u6cd5\uff0c24V\u7535\u5e73\u903b\u8f91\u3002\u6211\u4eec\u505a\u4e00\u4e2a\u6d4b\u8bd5\uff0c\u8bfb\u53d6IN3\u7aef\u53e3\u7684\u72b6\u6001\uff0c\u53cd\u5e94\u5230\u7a0b\u5e8f\u4e2d\uff0c\u5e76\u4f9d\u636e\u8f93\u5165\u72b6\u6001\uff0c\u8bbe\u7f6e\u6811\u8393\u6d3e\u7684\u8f93\u51fa\u7aef\u53e3\u72b6\u6001\u3002<\/p>\n\n\n\n

\u9996\u5148\uff0c\u9000\u51fa\u767b\u9646\uff1aOnline —> Logout\u3002\u5728\u9879\u76ee\u4e2d\u9ed8\u8ba4\u7684POU\u4e2d\u7f16\u5199\u7b80\u5355\u7684\u7a0b\u5e8f\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u53cc\u51fb\u201cECR60\u201d\uff0c\u5728\u201cEtherCAT I\/O Mapping\u201d\u4e2d\u6620\u5c04\u53d8\u91cf\uff0c<\/p>\n\n\n\n

\"\"
\u5c06ECR60\u7684Digital Input \u7684Bit0\uff0c\u6620\u5c04\u5230\u53d8\u91cfXswitch\u3002<\/figcaption><\/figure>\n\n\n\n

Pi4 \u9700\u8981\u66f4\u6539\u6811\u8393\u6d3eGPIO\u7684\u7248\u672c\uff0c\u5728\u9879\u76ee\u7684GPIOs_A_B\u4e2d\u53f3\u952e\uff0c\u9009\u62e9\u201cUpdate device\u201d\uff0c\u9009\u62e9\u201cGPIOs B+\/Pi2\u201d\u3002<\/p>\n\n\n\n

\"\"
Pi output map<\/figcaption><\/figure>\n\n\n\n

\u5728GPIOs_A_B\u4e2d\uff0c\u9996\u5148\u5728GPIOs Parameters\u4e2d\uff0c\u53cc\u51fb GPIO4 \u7684Value\u9009\u9879\uff0c\u5c06\u5b83\u8bbe\u7f6e\u4e3a\u8f93\u51fa\u201cOutput\u201d\uff0c\u7136\u540e\u8bbe\u7f6eGPIOs I\/O Mapping\uff0c\u6211\u4eec\u5c06Bit4\u6620\u5c04\u5230\u53d8\u91cfXlight\u3002<\/p>\n\n\n\n

\u627e\u4e00\u4e2aLED\u706f\uff0cLED\u6b63\u6781\u4e32\u63a51\u4e2a\u70b92K\u7684\u9650\u6d41\u7535\u963b\uff0c\u518d\u8fde\u63a5\u5230GPIO4\u5f15\u811a\uff0c\u6211\u7684PI B\u7248\u672c\u4f4d\u4e8e\u5de6\u4fa7\u5411\u4e0b\u7b2c4\u5f15\u811a\uff0cLED\u8d1f\u6781\u63a5\u5de6\u4fa7\u6700\u4e0b\u9762\u7684GND\u5f15\u811a\u3002\u5f15\u811a\u7684\u5206\u914d\u53ef\u4ee5\u901a\u8fc7\u6307\u4ee4\uff1agpio readall\u8bfb\u53d6\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5c06PLC_PRG\u4efb\u52a1\u62d6\u52a8\u5230\u201cEtherCAT_Task\u201d\uff0c\u7f16\u8bd1\u9879\u76ee\uff0c\u518d\u6b21\u767b\u9646PI\uff0c\u5c06\u7a0b\u5e8f\u4e0b\u8f7d\u5230\u6811\u8393\u6d3e\u3002\u70b9\u51fb\u201cDebug\u201d—>Start\u3002\u5982\u679c\u4e00\u5207\u8bbe\u7f6e\u6b63\u786e\uff0cPLC\u5c06\u8fd0\u884c\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5728ECR60 I\/O Mapping\u754c\u9762\u53ef\u4ee5\u76d1\u63a7IN3\u7684\u8f93\u5165\u72b6\u6001\uff0c\u6b64\u65f6\u5728ECR60\u7684\u9a71\u52a8\u5668\u8f93\u5165\u63a5\u53e3\uff0cCOM+\u63a5\u516524V\u6b63\u6781\uff0cIN3\u63a5\u516524V\u7535\u6e90\u7684\u8d1f\u6781\uff0c\u53ef\u4ee5\u89c2\u5bdf\u5230Bit0 \u53d8\u6210\u201cTRUE\u201d,\u65ad\u5f00IN3\uff0c\u53d8\u4e3aFALSE\u3002<\/p>\n\n\n\n

\u5728PLC_PRG\u91cc\u9762\u53ef\u4ee5\u76d1\u63a7\u5230\u5bf9\u5e94\u53d8\u91cf\u7684\u53d8\u5316\uff0c\u6b64\u65f6LED\u706f\u4f9d\u636eIN3\u7684\u8f93\u5165\u72b6\u6001\u53d1\u751f\u53d8\u5316\u3002<\/p>\n\n\n\n

\u81f3\u6b64\uff0c\u6811\u8393\u6d3e\u548c\u9510\u7279\u673a\u7535\u7684\u603b\u7ebf\u6b65\u8fdb\u9a71\u52a8\u5668ECR60\u53ef\u4ee5\u6b63\u5e38\u8fde\u63a5\u3002<\/p>\n\n\n\n

\u4e0b\u4e00\u8282\u4ecb\u7ecd\u6811\u8393\u6d3e\u5bf9ECR60\u7684CIA402\u8fd0\u52a8\u63a7\u5236\u529f\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

EtherCAT\u9010\u6e10\u6210\u4e3a\u5de5\u4e1a\u63a7\u5236\u7684\u4e3b\u6d41\u603b\u7ebf\uff0c\u672c\u8282\u91c7\u7528\u6811\u8393\u6d3e4B\u786c\u4ef6\uff0c\u5b89\u88c5Codesys\u652f\u6301\u5e93\uff0c\u91c7\u7528EtherC […]<\/p>\n","protected":false},"author":1,"featured_media":485,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,14,15,16],"tags":[33,110,40,85,109],"class_list":["post-320","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ethercat","category-14","category-steppermotor","category-steppermotordriver","tag-codesys","tag-ecr60","tag-ethercat","tag-raspberrypi","tag-109"],"_links":{"self":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/320","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/comments?post=320"}],"version-history":[{"count":29,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/320\/revisions"}],"predecessor-version":[{"id":555,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/320\/revisions\/555"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/media\/485"}],"wp:attachment":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/media?parent=320"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/categories?post=320"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/tags?post=320"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}