#include <EcSlaveSGDV.h>

Inheritance diagram for cpp4ec::EcSlaveSGDV:

Public Types
enum	EcPDOEntry { FIRST_ENTRY, SECOND_ENTRY, THIRD_ENTRY, FOURTH_ENTRY, FIFTH_ENTRY, SIXTH_ENTRY, SEVENTH_ENTRY, EIGHTH_ENTRY }

enum	EcControlWord { CW_QUICK_STOP = 0x02, CW_SHUTDOWN = 0x06, CW_SWITCH_ON = 0x07, CW_ENABLE_OP = 0x0F, CW_DIASABLE_OP = 0x07, CW_DISABLE_VOLTAGE = 0x00, CW_FAULT_RESET = 0x80, CW_HALT = 0x09, CW_START_ABS_POSITIONING = 0x1F, CW_START_REL_POSITIONING = 0x5F, CW_START_QUICK_ABS_POSITIONING = 0x3F, CW_START_QUICK_REL_POSITIONING = 0x7F, CW_START_ABS_POSITIONING_WITH_VELOCITY = 0x21F, CW_START_REL_POSITIONING_WITH_VELOCITY = 0x25F }

enum	EcStatusWord { SW_NOT_READY_SWICH_ON = 0x00, SW_SWITCH_ON_DISABLED = 0x40, SW_READY_SWITCH_ON = 0x31, SW_SWITCHED_ON = 0x33, SW_OPERATION_ENABLED = 0x37, SW_QUICK_STOP_ACTIVE = 0x07, SW_FAULT = 0x08, SW_FAULT_RACTION_ACTIVE = 0x0F, SW_HIGH_MASK = 0x00FF, SW_LOW_MASK = 0xFF00 }

Public Member Functions
	EcSlaveSGDV (ec_slavet *mem_loc)
	Constructor. More...

	~EcSlaveSGDV ()
	Destructor.

const std::string &	getName () const
	Gets the name.

bool	configure () throw (EcErrorSGDV)
	Configure the SGDV servopack. More...

void	start () throw (EcErrorSGDV)
	Start motors. More...

void	update ()
	Update the data. More...

void	stop () throw (EcErrorSGDV)
	Stop motors. More...

void	setDC (bool active, unsigned int sync0Time, unsigned int sync0Shift) throw (EcErrorSGDV)
	Set DC. More...

void	setPDOBuffer (char input, char output)
	Sets locations Buffer. More...

bool	writePDO (EcPDOEntry entry, int value)
	Writes on the output PDOentry. More...

bool	readPDO (EcPDOEntry entry, int &value)
	Read on the input PDOentry. More...

bool	readActualValue (ActualValue &value)
	read Actual values structure More...

bool	writeControlWord (uint16_t controlWord)
	Write on the Controlword object. More...

bool	readStatusWord (uint16_t &statusWord)
	Read the Statusword object. More...

bool	writePosition (int32_t position)
	Write on the position object. More...

bool	readPosition (int32_t &position)
	Read the position object. More...

bool	writeVelocity (int32_t velocity)
	Write on the velocity object. More...

bool	readVelocity (int32_t &velocity)
	Read the velocity object. More...

bool	writeTorque (int16_t torque)
	Write on the torque object. More...

bool	readTorque (int16_t &torque)
	Read the torque object. More...

bool	readTimestamp (int64 &time)
	Read the actual timestamp. More...

void	setSGDVObject (uint16_t index, uint8_t subindex, int psize, void *param)
	Set an SGDV object. More...

void	getSGDVObject (uint16_t index, uint8_t subindex, int psize, void param)
	Set an SGDV object. More...

Public Member Functions inherited from cpp4ec::EcSlave
virtual	~EcSlave ()
	Destructor.

const std::string &	getName () const
	Get the slave name.

virtual bool	requestState (ec_state state)
	Requests the slave state.

virtual bool	checkState (ec_state state)
	Checks the slave state.

virtual ec_state	getState ()
	Gets the slave state.

Public Attributes
boost::signals2::signal< void(int, uint16_t, int32_t, int32_t, int16_t, int64_t)>	slaveValues
	A signal to emit information. More...

Public Attributes inherited from cpp4ec::EcSlave
boost::signals2::signal< void()>	updateMaster
	Update Master outputs.

Additional Inherited Members
Protected Member Functions inherited from cpp4ec::EcSlave
	EcSlave (ec_slavet *mem_loc)

Protected Attributes inherited from cpp4ec::EcSlave
ec_slavet *	m_datap

std::string	m_name

unsigned int	m_slave_nr

Detailed Description

Class EcSlaveSGDV.

The class EcSlaveSGDV configures and controls the SGDV motors.

Examples:: demo2.cpp, demo3.cpp, and demo4.cpp.

Member Enumeration Documentation

enum cpp4ec::EcSlaveSGDV::EcControlWord

The ControlWord values. The positioning words are only used in the profile position mode (operational mode = 1).

Enumerator
CW_START_ABS_POSITIONING	Start the next positioning after the current positioning completes (target reached). The target position is an absolute value
CW_START_REL_POSITIONING	Start the next positioning after the current positioning completes (target reached). The target position is a relative value
CW_START_QUICK_ABS_POSITIONING	Start next positioning immediately. The target position is an absolute value
CW_START_QUICK_REL_POSITIONING	Start next positioning immediately. The target position is a relative value
CW_START_ABS_POSITIONING_WITH_VELOCITY	Positioning with current profile velocity up to the current set-point is proceeded and then next positioning will be applied. The target position is an absolute value
CW_START_REL_POSITIONING_WITH_VELOCITY	Positioning with current profile velocity up to the current set-point is proceeded and then next positioning will be applied. The target position is a relative value

enum cpp4ec::EcSlaveSGDV::EcPDOEntry

The index of the PDO entries

enum cpp4ec::EcSlaveSGDV::EcStatusWord

The StatusWord values

Constructor & Destructor Documentation

cpp4ec::EcSlaveSGDV::EcSlaveSGDV ( ec_slavet * mem_loc )

Constructor.

Parameters

mem_loc A posinter to the slave information of ec_slave (SOEM)

Member Function Documentation

bool cpp4ec::EcSlaveSGDV::configure	(		)
throw	(	EcErrorSGDV
	)

virtual

Configure the SGDV servopack.

Set the parameters readed from the XML, which include the PDO mapping.

Reimplemented from cpp4ec::EcSlave.

void cpp4ec::EcSlaveSGDV::getSGDVObject	(	uint16_t	index,
		uint8_t	subindex,
		int *	psize,
		void *	param
	)

Set an SGDV object.

This functions set the desired value on the desired object of an SGDV Servopack.

Parameters

index	the index of the object.
subindex	the subindedex of the objec.
psize	the size of the param buffer.
param	a pointer to the buffer with the returned value.

bool cpp4ec::EcSlaveSGDV::readActualValue ( ActualValue & value )

read Actual values structure

This function read the important or essential parameter togheter and put it in actualValue structure

Parameters

ActualValue Contain position,velocity,torque and timestamp.

bool cpp4ec::EcSlaveSGDV::readPDO	(	EcPDOEntry	entry,
		int &	value
	)

Read on the input PDOentry.

Parameters

entry	especifies the entry that occupies the object that is wanted to read on.
value	return the value of this onject.

bool cpp4ec::EcSlaveSGDV::readPosition ( int32_t & position )

Read the position object.

It's an specific function to read the Position Actual Value object (0x6064). If this object is not mapped in the PDO, then an error will happen.

Parameters

position return the value of the Position Actual Value object .

bool cpp4ec::EcSlaveSGDV::readStatusWord ( uint16_t & statusWord )

Read the Statusword object.

It's an specific function to read the Statusword object (0x6041). If this object is not mapped in the PDO, then an error will happen.

Parameters

statusWord return the value of the Statusword object .

bool cpp4ec::EcSlaveSGDV::readTimestamp ( int64 & time )

Read the actual timestamp.

Reads the timestamp of the last PDO readed.

Parameters

time	return the value of the actual timestamp.

bool cpp4ec::EcSlaveSGDV::readTorque ( int16_t & torque )

Read the torque object.

It's an specific function to read the Torque Actual Value object (0x6077). If this object is not mapped in the PDO, then an error will happen.

Parameters

torque return the value of the Torque Actual Value object .

bool cpp4ec::EcSlaveSGDV::readVelocity ( int32_t & velocity )

Read the velocity object.

It's an specific function to read the Velocity Actual Value object (0x606C). If this object is not mapped in the PDO, then an error will happen.

Parameters

velocity return the value of the Velocity Actual Value object .

void cpp4ec::EcSlaveSGDV::setDC	(	bool	active,
		unsigned int	sync0Time,
		unsigned int	sync0Shift
	)
throw	(	EcErrorSGDV
	)

virtual

Set DC.

Configure the sync0 event

Parameters

active	true to active DC, false to disconect.
sync0Time	the cycle time of the sync0 event
sync0Shift	the shifted time of the sync0 event

Reimplemented from cpp4ec::EcSlave.

void cpp4ec::EcSlaveSGDV::setPDOBuffer	(	char *	input,
		char *	output
	)

virtual

Sets locations Buffer.

The master join all the outputs and inputs in their respective buffer to transmit to the real time task. This functions sets the input and output pointers to the right location on the where the PDO must be put.

Parameters

input	the pointer to the right location on the master input buffer
output	the pointer to the right location on the master input buffer

Reimplemented from cpp4ec::EcSlave.

void cpp4ec::EcSlaveSGDV::setSGDVObject	(	uint16_t	index,
		uint8_t	subindex,
		int	psize,
		void *	param
	)

Set an SGDV object.

This functions set the desired value on the desired object of an SGDV Servopack.

Parameters

index	the index of the object.
subindex	the subindedex of the objec.
psize	the size of the param buffer.
param	a buffer with the desired value.

void cpp4ec::EcSlaveSGDV::start	(		)
throw	(	EcErrorSGDV
	)

virtual

Start motors.

Switch on motors.

Returns: A vector with the secuence of buffer outputs that has to be sent to stop the servos

Reimplemented from cpp4ec::EcSlave.

void cpp4ec::EcSlaveSGDV::stop	(		)
throw	(	EcErrorSGDV
	)

virtual

Stop motors.

Returns: A vector with the secuence of buffer outputs that has to be sent to stop the servos

Reimplemented from cpp4ec::EcSlave.

void cpp4ec::EcSlaveSGDV::update ( void )

virtual

Update the data.

Update the output and input values to and from their respective buffers.

Implements cpp4ec::EcSlave.

bool cpp4ec::EcSlaveSGDV::writeControlWord ( uint16_t controlWord )

Write on the Controlword object.

It's an specific function to write on the Controlword object (0x6040). If this object is not mapped in the PDO, then an error will happen.

Parameters

controlWord the desired value of the Controlword object .

bool cpp4ec::EcSlaveSGDV::writePDO	(	EcPDOEntry	entry,
		int	value
	)

Writes on the output PDOentry.

Parameters

entry	especifies the entry that occupies the object thatis wanted to write on.
value	the desired value of the onject.

bool cpp4ec::EcSlaveSGDV::writePosition ( int32_t position )

Write on the position object.

It's an specific function to write on the Target Position object (0x607A). If this object is not mapped in the PDO, then an error will happen.

Parameters

position the desired value of the Target Position object.

bool cpp4ec::EcSlaveSGDV::writeTorque ( int16_t torque )

Write on the torque object.

It's an specific function to write on the Target Torque object (0x6071). If this object is not mapped in the PDO, then an error will happen.

Parameters

torque the desired value of the Target Torque object.

bool cpp4ec::EcSlaveSGDV::writeVelocity ( int32_t velocity )

Write on the velocity object.

It's an specific function to write on the Target Velocity object (0x60FF). If this object is not mapped in the PDO, then an error will happen.

Parameters

velocity the desired value of the Target Velocity object.

Member Data Documentation

boost::signals2::signal<void (int, uint16_t, int32_t, int32_t, int16_t, int64_t)> cpp4ec::EcSlaveSGDV::slaveValues

A signal to emit information.

Is a function designed to send the important data of the slave. Whatever component that is conected to this signal can recieve the slavenumber, statusWord, Position, Velocity, Torque and timestamp of each slave.

The documentation for this class was generated from the following files:

/home/users/sergi.ruiz/cpp4ec/src/EcSlaveSGDV.h
/home/users/sergi.ruiz/cpp4ec/src/EcSlaveSGDV.cpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation