Public Types | Public Member Functions | Private Attributes
robotiq_s_model_control::SModelEtherCatClient Class Reference

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map. More...

#include <s_model_ethercat_client.h>

List of all members.

Public Types

typedef
robotiq_s_model_control::SModel_robot_input 
GripperInput
typedef
robotiq_s_model_control::SModel_robot_output 
GripperOutput

Public Member Functions

GripperInput readInputs () const
 Reads set of input-register values from the gripper.
GripperOutput readOutputs () const
 Reads set of output-register values from the gripper.
 SModelEtherCatClient (robotiq_ethercat::EtherCatManager &manager, int slave_no)
 Constructs a control interface to a S Model Robotiq gripper on the given ethercat network and the given slave_no.
void writeOutputs (const GripperOutput &output)
 Write the given set of control flags to the memory of the gripper.

Private Attributes

robotiq_ethercat::EtherCatManagermanager_
const int slave_no_

Detailed Description

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map.

Definition at line 22 of file s_model_ethercat_client.h.


Member Typedef Documentation

typedef robotiq_s_model_control::SModel_robot_input robotiq_s_model_control::SModelEtherCatClient::GripperInput

Definition at line 26 of file s_model_ethercat_client.h.

typedef robotiq_s_model_control::SModel_robot_output robotiq_s_model_control::SModelEtherCatClient::GripperOutput

Definition at line 25 of file s_model_ethercat_client.h.


Constructor & Destructor Documentation

Constructs a control interface to a S Model Robotiq gripper on the given ethercat network and the given slave_no.

Parameters:
[in]managerThe interface to an EtherCAT network that the gripper is connected to.
[in]slave_noThe slave number of the gripper on the EtherCAT network (>= 1)

Definition at line 10 of file s_model_ethercat_client.cpp.


Member Function Documentation

Reads set of input-register values from the gripper.

Returns:
The gripper input registers as read from the controller IOMap

Definition at line 57 of file s_model_ethercat_client.cpp.

Reads set of output-register values from the gripper.

Returns:
The gripper output registers as read from the controller IOMap

Definition at line 108 of file s_model_ethercat_client.cpp.

Write the given set of control flags to the memory of the gripper.

Parameters:
[in]outputThe set of output-register values to write to the gripper

Definition at line 19 of file s_model_ethercat_client.cpp.


Member Data Documentation

Definition at line 60 of file s_model_ethercat_client.h.

Definition at line 61 of file s_model_ethercat_client.h.


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


robotiq_s_model_control
Author(s): Nicolas Lauzier (Robotiq inc.)
autogenerated on Thu Jun 6 2019 17:58:10