#include <EcSlaveTrack.h>

Inheritance diagram for cpp4ec::EcSlaveTrack:

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

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

void	setDC (bool active, unsigned int sync0Time, unsigned int sync0Shift) throw (EcErrorSGDV)
	Set the Distributed clock.

bool	writeMDT (EcPDOEntry entry, int value) throw (EcErrorSGDV)
	Writes on the output PDOentry. More...

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

void	setSGDVOject (uint16_t idn, uint8_t elementflags, int psize, void *param)
	Set an SGDV object. More...

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

std::vector< int >	readIDNofIDNs (int idn, bool print)
	Read the IDN that are contained in a IDN. More...

void	setMDT (std::vector< int > listidn)
	Set the IDN that will be contained in the MDT. More...

void	setAT (std::vector< int > listidn)
	Set the IDN that will be contained in the AT. More...

void	modeSetUp (EcMode mode, int nmode)
	Set the operation mode. More...

void	TelegramType (EcTelegramType type)
	Set the telegram type. More...

void	DefaultParameters ()

void	ClearError ()

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)>	slaveValues

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

EcSlaveTrack.

The class EcSlaveTrack configures and controls the SGDV motors.

Constructor & Destructor Documentation

cpp4ec::EcSlaveTrack::EcSlaveTrack ( ec_slavet * mem_loc )

Constructor.

Parameters

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

Member Function Documentation

bool cpp4ec::EcSlaveTrack::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::EcSlaveTrack::getSGDVObject	(	uint16_t	idn,
		uint8_t	elementflags,
		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.

void cpp4ec::EcSlaveTrack::modeSetUp	(	EcMode	mode,
		int	nmode
	)

Set the operation mode.

This functions set operation mode of the slave.

Parameters

mode	is the mode that will be set in the nmode position.
nmode	position of the mode, you could configure up to 4 mode at the same time and change it while the slave is in the cyclic data transfer mode using the controlword to switch between the mode on te fly. Set nmode with [0,1,2,3] to configure the 4 modes simultaniosly.

bool cpp4ec::EcSlaveTrack::readAT	(	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.

std::vector< int > cpp4ec::EcSlaveTrack::readIDNofIDNs	(	int	idn,
		bool	print
	)

Read the IDN that are contained in a IDN.

This functions reads the idn that are contained in a IDN that have IDN as values.

Parameters

idn	the idn that are going to be read.
print	has to be set as true for printing the values and false for not printing the values.

bool cpp4ec::EcSlaveTrack::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::EcSlaveTrack::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::EcSlaveTrack::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::EcSlaveTrack::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::EcSlaveTrack::setAT ( std::vector< int > listidn )

Set the IDN that will be contained in the AT.

This functions set the IDN that will be contained in te AT during the cyclic data transfer

Parameters

listidn vector with all the parameters that wil be set in the AT (the statuslword has not to be set in this list).

void cpp4ec::EcSlaveTrack::setMDT ( std::vector< int > listidn )

Set the IDN that will be contained in the MDT.

This functions set the IDN that will be contained in te MDT during the cyclic data transfer

Parameters

listidn vector with all the parameters that wil be set in the MDT (the controlword has not to be set in this list).

void cpp4ec::EcSlaveTrack::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::EcSlaveTrack::setSGDVOject	(	uint16_t	idn,
		uint8_t	elementflags,
		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::EcSlaveTrack::start	(		)
throw	(	EcErrorSGDV
	)

virtual

Start motors.

Switch on the 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::EcSlaveTrack::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::EcSlaveTrack::TelegramType ( EcTelegramType type )

Set the telegram type.

This functions set the telegram type, it is possible to choose between 6 congigurated telegrams and a configurable one.

Parameters

type the type of telegram that are going to be set VZ0 MDT: no cyclic data, AT: no cyclic data VZ1 MDT: S-0-0080 torque command, AT: no cyclic data VZ2 MDT: S-0-0036 velocity command, AT: S-0-0040 velocity feedback VZ3 MDT: S-0-0036 velocity command, AT: S-0-0051/53 position feedback 1/2 VZ4 MDT: S-0-0047 position command, AT: S-0-0051/53 position feedback 1/2 VZ5 MDT: S-0-0047 position command and S-0-0036 velocity command, AT:S-0-0051/53 position feedback 1/2 and S-0-0040 velocity feedback VZ6 MDT: S-0-0036 velocity command, AT: no cyclic data VZ7 Configurable, you will need to set up the telegrams by yourself using the functions setMDT and setAT

void cpp4ec::EcSlaveTrack::update ( void )

virtual

Update the data.

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

Implements cpp4ec::EcSlave.

bool cpp4ec::EcSlaveTrack::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::EcSlaveTrack::writeMDT	(	EcPDOEntry	entry,
		int	value
	)
throw	(	EcErrorSGDV
	)

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::EcSlaveTrack::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

postion the desired value of the Target Position object.

bool cpp4ec::EcSlaveTrack::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::EcSlaveTrack::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.

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

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation