コード例 #1
0
ファイル: EthercatIo.cpp プロジェクト: BKNR/ETS2-Beckhoff
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;
	} 
}
コード例 #2
0
ファイル: AdsApiClient.c プロジェクト: Krzysztow/libads
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;
}
コード例 #3
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;
}
コード例 #4
0
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;
}