如何通过TwinCAT非周期访问Anybus CompactCom 40 ADI

定义非过程数据ADI

用户数据由用户在驱动程序侧定义在ADI中

1. 首先定义需要的数据变量，如图本次示例定义了两个用于测试的变量，数据类型为UINT32

   • UINT32 ADI_GET_TESTRD;
     UINT32 ADI_GET_TESTWR;

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2. 在const AD_AdiEntryType APPL_asAdiEntryList[]添加与变量相应的ADI,ADI实例编号分别为0x06 0x07
   

   • /*-------------------------------------------------------------------------------------------------------------
     ** 1. iInstance | 2. pabName | 3. bDataType | 4. bNumOfElements | 5. bDesc | 6. pxValuePtr | 7. pxValuePropPtr
     **--------------------------------------------------------------------------------------------------------------
     */各参数含义
     const AD_AdiEntryType APPL_asAdiEntryList[] =
     {
     { 0x1, "ControlWord", ABP_UINT16, 1, APPL_READ_MAP_WRITE_ACCESS_DESC,{ { &CtrolWord, &appl_sUint16Prop } } },
     { 0x2, "SpeedRef", ABP_UINT32, 1, APPL_READ_MAP_WRITE_ACCESS_DESC,{ { &SpeedRef, &appl_sUint32Prop } } },
     { 0x3, "StatusWord", ABP_UINT16, 1, APPL_WRITE_MAP_READ_ACCESS_DESC,{ { &StatusWord, &appl_sUint16Prop } } },
     { 0x4, "SpeedActual", ABP_UINT32, 1, APPL_WRITE_MAP_READ_ACCESS_DESC,{ { &SpeedActual, &appl_sUint32Prop } } },
     { 0x5, "InputDI8", ABP_UINT8, 1, APPL_WRITE_MAP_READ_ACCESS_DESC,{ { &InputDI8, &appl_sUint8Prop } } },
     
     { 0x6, "ADI_GET_TEST_IR", ABP_UINT32, 1, APPL_NOT_MAP_READ_ACCESS_DESC,{ { &ADI_GET_TESTRD, &appl_sUint32Prop } }},//Input parameter INIT to 5
     { 0x7, "ADI_SET_TEST_OW", ABP_UINT32, 1, APPL_NOT_MAP_WRITE_ACCESS_DESC,{ { &ADI_GET_TESTWR, &appl_sUint32Prop } }},//Output parameter
     };

3. 如果该变量为参数型数据需要将在定义ADI时设置变量的访问权限，如果参数为只读型，将访问权限设定为APPL_NOT_MAP_READ_ACCESS_DESC，如果参数为可写型，将其访问权限设置为APPL_NOT_MAP_WRITE_ACCESS_DESC。至此ADI已经定义完毕,请注意不要将其映射到APPL_asAdObjDefaultMap数组中。

4. 有关ADI定义的更多信息请参考《Anybus CompactCom 40 - Software Design Guide》13.4小节

ADI在EtherCAT over CANOpen协议中被转化为对象字典中的数据对象，ADI实例号与数据对象的索引（Index）对应关系为CoE Object Index = ADI no.+0x2000，则本文中定义的ADI 0x06 0x07被转化为CoE对象字典中索引为0x2006与0x2007的对象。具体请参考

1. 打开TwinCAT软件，创建工程，将Anybus CompactCom 40 EtherCAT 模块组态至工程中，可直接通过设备的CoE_Online界面直接查看与改写ADI数据。
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本文演示了在TwinCAT PLC程序中调用功能块FB_EcCoESdoRead和FB_EcCoESdoWrite发送SDO请求访问ADI数据。

      详细信息请参考倍福官网在线资料：Beckhoff Information System - English

1. 创建TwinCAT工程，连接Anybus CompactCom 40，在创建PLC程序之前，需要先获取EtherCAT 的主站NetId与Anybus CompactCom 40模块EtherCAT addr。
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2. 添加PLC程序

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3. 添加EtherCAT库引用
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4. 在POUs->MAIN中添加PLC程序。

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   • 定义功能块与变量（参考倍福官网示例程序）

   • PROGRAM MAIN
     VAR
     fb_coe_write : FB_EcCoESdoWrite; // Function Block for writing in CoE
     fb_coe_read : FB_EcCoESdoRead; // Function Block for reading from CoE
     userNetId : T_AmsNetId := '192.168.0.133.3.1'; // Have to be entered
     userSlaveAddr : UINT := 1001; // Have to be entered
     startWrite : BOOL := FALSE; // Sign for start writing
     startRead : BOOL := TRUE; // Sign for start reading
     nState : BYTE := 0; // RW-status
     // Example: Read EL3751 PAI Internal Data: Temperature Value
     Ruint32Buffer : UDINT; // Buffer for readingW
     // Example: Select EL3751 Filter1: 22 = IIR Butterw. LP 5th Ord. 1000 Hz:
     Wuint32Buffer : UDINT:=6; // Buffer for writing
     //bTxPDOState AT%I* : BOOL; // (PDO for synchronization)
     END_VAR

   • 程序（参考倍福官网示例程序）
     

     CASE nState OF
     0:
     IF startWrite THEN
     // Prepare CoE-Access: Write value of CoE object/ sub index:
     fb_coe_write(bExecute := FALSE);
     nState := 1;// Next state for writing
     startWrite := FALSE;
     END_IF
     IF startRead THEN
     // Prepare CoE-Access: Read value of CoE object/ sub index:
     fb_coe_read(bExecute := FALSE);
     nState := 11;// Next state for reading
     startRead := FALSE;
     END_IF
     // ============== COE WRITE ================
     1:
     // Write entry
     fb_coe_write(
     sNetId:= userNetId,
     nSlaveAddr:= userSlaveAddr,
     nSubIndex:= 16#0,//only one element in ADI
     nIndex:= 16#2007,//ADI 07(WR)
     pSrcBuf:= ADR(Wuint32Buffer),//write data sourceW
     cbBufLen:= 4, //the length of "Wuint32Buffer" in byte
     bExecute:= TRUE,
     tTimeout:= T#1S
     );
     nState := nState + 1; // Next state
     2:
     fb_coe_write(); // Execute CoE write until done
     IF fb_coe_write.bError THEN
     nState := 100; // Error case
     ELSE
     IF NOT fb_coe_write.bBusy THEN
     nState := 0; // Done
     END_IF
     END_IF
     // ============== COE READ =================
     11:
     // Read entry
     fb_coe_read(
     sNetId:= userNetId, 
     nSlaveAddr:= userSlaveAddr, 
     nSubIndex:= 0, //only one element in ADI
     nIndex:= 16#2006,//ADI 06(RD)
     pDstBuf:= ADR(Ruint32Buffer), //Read data Destination source
     cbBufLen:= 4, //the length of "Ruint32Buffer" in byte
     bExecute:= TRUE, 
     tTimeout:= T#1S 
     );
     
     nState := nState + 1; // Next state
     12:
     fb_coe_read(); // Execute CoE read until done
     IF fb_coe_read.bError THEN
     nState := 100; // Error case
     ELSE
     IF NOT fb_coe_read.bBusy THEN
     nState := 0; // Done
     END_IF
     END_IF
     100:
     ; // Error handling..
     END_CASE

5. 点击”Active Configuration“快捷键按钮，使能配置，TwinCAT进入RUN Mode
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6. 点击Login快捷键,随后点击“Start”按钮，程序开始运行。
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7. 将数据写入ADI，将startWrite预设置为TRUE，将startRead预设置为FALSE，将要写入的值预设至Wint32Buffer。点击Force按钮，即可将数据写入ADI（0x07）。
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8. 读取ADI数据，将startWrite预设置为FALSE，将startRead预设置为TRUE，点击Force按钮，即可读取ADI 数据（0x06）。
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