Classes | Enumerations | Functions | Variables
icl_hardware::canopen_schunk::ds402 Namespace Reference

Classes

union  Controlword
 data union for access to DSP 402 6040 controlword, More...
struct  Controlword_
 bit field for DSP 402 6040 controlword, More...
struct  HomingModeConfiguration
 Configuration parameters for a Homing_Mode according to CiA DSP-402 V1.1 section 13.2.1. More...
struct  ProfilePositionModeConfiguration
 Configuration parameters for a Profile_Position_Mode according to CiA DSP-402 V1.1 section 12.2.1. More...
struct  ProfileTorqueModeConfiguration
 Configuration parameters for a Profile_Torque_Mode according to CiA DSP-402 V1.1 section 17.2.1. More...
struct  ProfileVelocityModeConfiguration
 Configuration parameters for a Profile_Velocity_Mode according to CiA DSP-402 V1.1 section 16.2.1. More...
union  Statusword
 data union for access to DSP 402 6041 statusword, More...
struct  Statusword_
 bit field for DSP 402 6041 statusword, More...
union  SupportedDriveModes
 data union for access to DSP 402 6041 statusword, More...
struct  SupportedDriveModes_

Enumerations

enum  eModeOfOperation {
  MOO_RESERVED_0 = 0, MOO_PROFILE_POSITION_MODE = 1, MOO_VELOCITY_MODE = 2, MOO_PROFILE_VELOCITY_MODE = 3,
  MOO_PROFILE_TORQUE_MODE = 4, MOO_RESERVED_1 = 5, MOO_HOMING_MODE = 6, MOO_INTERPOLATED_POSITION_MODE = 7,
  MOO_CYCLIC_SYNC_POSITION_MODE = 8, MOO_CYCLIC_SYNC_VELOCITY_MODE = 9, MOO_CYCLIC_SYNC_TORQUE_MODE = 10
}
enum  eState {
  STATE_START, STATE_NOT_READY_TO_SWITCH_ON, STATE_SWITCH_ON_DISABLED, STATE_READY_TO_SWITCH_ON,
  STATE_SWITCHED_ON, STATE_OPERATION_ENABLE, STATE_QUICKSTOP_ACTIVE, STATE_FAULT_REACTION_ACTIVE,
  STATE_FAULT
}
 DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000. More...
enum  eStateTransission {
  STATE_TRANS_INITIALIZE = 1, STATE_TRANS_SHUTDOWN = 2, STATE_TRANS_SWITCH_ON = 3, STATE_TRANS_ENABLE_OPERATION = 4,
  STATE_TRANS_QUICK_STOP = 11, STATE_TRANS_FAULT_RESET = 15
}

Functions

std::string deviceStatusString (const eState state)
 Turns a status word into a status string according to the elmo DS-402 implementation guide chapter 6.6.1.
std::string operationModeString (const eModeOfOperation mode)
eState stateFromStatusword (const ds402::Statusword &statusword)

Variables

static const uint16_t ID_CONTROL_WORD = 0x6040
static const uint16_t ID_STATUS_WORD = 0x6041

Enumeration Type Documentation

Enumerator:
MOO_RESERVED_0 
MOO_PROFILE_POSITION_MODE 
MOO_VELOCITY_MODE 
MOO_PROFILE_VELOCITY_MODE 
MOO_PROFILE_TORQUE_MODE 
MOO_RESERVED_1 
MOO_HOMING_MODE 
MOO_INTERPOLATED_POSITION_MODE 
MOO_CYCLIC_SYNC_POSITION_MODE 
MOO_CYCLIC_SYNC_VELOCITY_MODE 
MOO_CYCLIC_SYNC_TORQUE_MODE 

Definition at line 41 of file ds402.h.

DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000.

Enumerator:
STATE_START 
STATE_NOT_READY_TO_SWITCH_ON 
STATE_SWITCH_ON_DISABLED 
STATE_READY_TO_SWITCH_ON 
STATE_SWITCHED_ON 
STATE_OPERATION_ENABLE 
STATE_QUICKSTOP_ACTIVE 
STATE_FAULT_REACTION_ACTIVE 
STATE_FAULT 

Definition at line 61 of file ds402.h.

Enumerator:
STATE_TRANS_INITIALIZE 
STATE_TRANS_SHUTDOWN 
STATE_TRANS_SWITCH_ON 
STATE_TRANS_ENABLE_OPERATION 
STATE_TRANS_QUICK_STOP 
STATE_TRANS_FAULT_RESET 

Definition at line 75 of file ds402.h.


Function Documentation

std::string icl_hardware::canopen_schunk::ds402::deviceStatusString ( const eState  state) [inline]

Turns a status word into a status string according to the elmo DS-402 implementation guide chapter 6.6.1.

Parameters:
statuswordStatusword of device
Returns:
stringified status

Definition at line 276 of file ds402.h.

std::string icl_hardware::canopen_schunk::ds402::operationModeString ( const eModeOfOperation  mode) [inline]

Definition at line 328 of file ds402.h.

eState icl_hardware::canopen_schunk::ds402::stateFromStatusword ( const ds402::Statusword &  statusword) [inline]

Definition at line 375 of file ds402.h.


Variable Documentation

Definition at line 38 of file ds402.h.

Definition at line 39 of file ds402.h.



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