void EthercatIo::InitializeConnection() {
pAddr = &Addr;
nPort = AdsPortOpen();
nErr = AdsGetLocalAddress(pAddr);
if (nErr) {
std::cerr << "Error: AdsGetLocalAddress: " << nErr << '\n';
failInInitializing = true;
}
pAddr->port = 801;
//10.112.98.1.1.1 netId local in lepuski
pAddr->netId.b[0]=10;
pAddr->netId.b[1]=112;
pAddr->netId.b[2]=98;
pAddr->netId.b[3]=1;
pAddr->netId.b[4]=1;
pAddr->netId.b[5]=1;
// Creating handles to variables
nErr=AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(ULONG), &hInputs, sizeof(".FromADS"),".FromADS");
if(nErr) {
std::cerr << "Error: AdsSyncReadWriteReq: " << nErr << '\n';
failInInitializing=true;
}
nErr=AdsSyncReadWriteReq(pAddr, ADSIGRP_SYM_HNDBYNAME, 0x0, sizeof(ULONG), &hOutputs, sizeof(".FromADS"),".FromADS");
if(nErr) {
std::cerr << "Error: AdsSyncReadWriteReq: " << nErr << '\n';
failInInitializing=true;
}
}
int main(int argc, char **argv)
{
short unsigned int nAdsState;
short unsigned int nDeviceState;
AdsVersion Version;
AdsVersion *pVersion = &Version;
char pDevName[16];
long nErr;
AmsAddr Addr;
PAmsAddr pAddr = &Addr;
/* Open communication port on the ADS router */
AdsPortOpen();
/* set the target ip AMS Net Id */
/* When the address is defined */
//pAddr->netId = (AmsNetId) { {
//192, 168, 1, 72, 1, 1}};
/* if the server runs on the local address */
AdsGetLocalAddress(pAddr);
/* PLC Port */
pAddr->port = AMSPORT_LOGGER;
/* example, read state */
nErr = AdsSyncReadStateReq(pAddr, &nAdsState, &nDeviceState);
if (nErr)
printf("Error: AdsSyncReadStateReq: %ld\n", nErr);
else {
printf("AdsState: %d\n", nAdsState);
printf("DeviceState: %d\n", nDeviceState);
}
/* Read device information */
nErr = AdsSyncReadDeviceInfoReq(pAddr, pDevName, pVersion);
if (nErr)
printf("Error: AdsSyncReadDeviceInfoReq: %ld\n", nErr);
else {
printf("Name: %s\n", pDevName);
printf("Version: %d\n", (int)pVersion->version);
printf("Revision: %d\n", (int)pVersion->revision);
printf("Build: %d\n", pVersion->build);
}
/* Close communication port */
nErr = AdsPortClose();
if (nErr)
printf("Error: AdsPortClose: %ld", nErr);
return 0;
}
// end of init_gripper_para
bool init_gripper_motion()
{
long nErr,nPort,add0,add1,add2; // just like hResult for VCI CAN communication
nErr = 0; // it seems that when it is not 0, it indicates error
pAddr = &Addr;
nPort = AdsPortOpen(); // in fact, this var is not used
nErr = AdsGetLocalAddress(pAddr);
std::cout<<"initialize gripper ..."<<std::endl;
add1 = 0x27; add2 = 0x01; // byte 0
pAddr->port = 300; // it is the same for both grippers
add0 = 0x11004;
dwData = 0x00;
nErr = AdsSyncWriteReq(pAddr,add0,add1,add2,&dwData);
if (nErr){
std:: cerr << "Error: initial_gripper::AdsSyncWriteReq 1 : " << nErr << '\n';
return false;
}
dwData=0x01;
nErr = AdsSyncWriteReq(pAddr,add0,add1,add2,&dwData);
if (nErr){
std::cerr << "Error: initial_gripper::AdsSyncWriteReq 2 : " << nErr << '\n';
return false;
}
GoToPosReqFlag = true;
gPos = 0;
Speed = 255;
Force = 255;
//Sleep(8000);
return true;
}
bool init_gripper_para()
{
long nErr,nPort,add0,add1,add2; // just like hResult for VCI CAN communication
nErr = 0; // it seems that when it is not 0, it indicates error
pAddr = &Addr;
nPort = AdsPortOpen(); // in fact, this var is not used
nErr = AdsGetLocalAddress(pAddr);
if(nErr)
{
std::cerr << "Error: AdsGetLocalAddress: " << nErr << std::endl;
return false;
}
pAddr->port = 300; // it is the same for both grippers
add0=0x11004;
GoToPosReqFlag = false;
Pos = 0;
Speed = 200;
Force = 100;
}