Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Private Member Functions
icl_hardware::canopen_schunk::SchunkPowerBallNode Class Reference

This class gives a device specific interface for Schunk Powerballs, as they need some "special" treatment such as commutation search instead of homing. More...

#include <SchunkPowerBallNode.h>

Inheritance diagram for icl_hardware::canopen_schunk::SchunkPowerBallNode:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< const SchunkPowerBallNode
ConstPtr
 Shared pointer to a const SchunkPowerBallNode.
typedef boost::shared_ptr
< SchunkPowerBallNode
Ptr
 Shared pointer to a SchunkPowerBallNode.

Public Member Functions

void commutationSearch ()
 Performs a commutation search for a Schunk powerball module.
virtual void configureHomingMethod (const uint8_t homing_method)
 Set the device's homing method for a Schunk PowerBall.
virtual void configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed=0)
 Set the speeds for homing for a Schunk PowerBall.
virtual void initNode ()
 Initializes the node and sets the Schunk Default PDO mapping.
 SchunkPowerBallNode (const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr &can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
virtual void setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping)
 Choose one of the predefined default mappings. Please see the enum eDefaultPDOMapping for a list of available mappings. See the implementation for further details about the mappings.

Static Public Attributes

static const double RAD_TO_STEPS_FACTOR = 57295.7795131
 This factor will be used to convert RAD numbers into encoder ticks.

Protected Member Functions

virtual void configureInterpolationData (const uint8_t buffer_organization=0, const int16_t interpolation_type=0, const uint8_t size_of_data_record=4)
 Additionally to the basis implementation this sets a number of cycles that are allowed to be missed by device before stopping execution.

Private Member Functions

bool CommutationCalibrated ()
 Checks if the device is already correctly commutated by checking the value of the relevant register entry (via SDO communication).

Detailed Description

This class gives a device specific interface for Schunk Powerballs, as they need some "special" treatment such as commutation search instead of homing.

Also, the powerballs have predefined PDO mappings: RPDO0 (Commands from PC to device):

TPDO (Information from device to PC):

Definition at line 46 of file SchunkPowerBallNode.h.


Member Typedef Documentation

Shared pointer to a const SchunkPowerBallNode.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 52 of file SchunkPowerBallNode.h.

Shared pointer to a SchunkPowerBallNode.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 50 of file SchunkPowerBallNode.h.


Constructor & Destructor Documentation

Definition at line 37 of file SchunkPowerBallNode.cpp.


Member Function Documentation

Checks if the device is already correctly commutated by checking the value of the relevant register entry (via SDO communication).

Returns:
True, if commutation is already achieved, false otherwise.

Definition at line 171 of file SchunkPowerBallNode.cpp.

Performs a commutation search for a Schunk powerball module.

The commutation search gives information about where the module is when it is switched on. Basically, this gets called automatically the first time a movement is requested from the device.

Make sure, this is called during the initialization process (This should be taken care of by this driver already)

Definition at line 109 of file SchunkPowerBallNode.cpp.

Set the device's homing method for a Schunk PowerBall.

Reimplementation for a Schunk powerball. It does not support to write the homing method register 0x6098. Therefor this only sets the internal member variable to the given value. Any value different from 0 enables the homing mode. Apart from that, it's value will be ignored.

Parameters:
homing_methodNote that this parameter will be ignored.

Definition at line 188 of file SchunkPowerBallNode.cpp.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::configureHomingSpeeds ( const uint32_t  low_speed,
const uint32_t  high_speed = 0 
) [virtual]

Set the speeds for homing for a Schunk PowerBall.

Reimplementation for a Schunk powerball. It does not support to write the homing method register 0x6099.

Parameters:
low_speedNote that this parameter will be ignored.
high_speedNote that this parameter will be ignored.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 196 of file SchunkPowerBallNode.cpp.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::configureInterpolationData ( const uint8_t  buffer_organization = 0,
const int16_t  interpolation_type = 0,
const uint8_t  size_of_data_record = 4 
) [protected, virtual]

Additionally to the basis implementation this sets a number of cycles that are allowed to be missed by device before stopping execution.

See the basis implementation for member documentation.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 204 of file SchunkPowerBallNode.cpp.

Initializes the node and sets the Schunk Default PDO mapping.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 44 of file SchunkPowerBallNode.cpp.

Choose one of the predefined default mappings. Please see the enum eDefaultPDOMapping for a list of available mappings. See the implementation for further details about the mappings.

Parameters:
mappingMapping that should be set.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 52 of file SchunkPowerBallNode.cpp.


Member Data Documentation

This factor will be used to convert RAD numbers into encoder ticks.

Definition at line 57 of file SchunkPowerBallNode.h.


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


schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Sun May 22 2016 03:30:57