robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient 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 <robotiq_2f_gripper_ethercat_client.h>

Public Types
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input	GripperInput
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output	GripperOutput

Public Member Functions
GripperInput	readInputs () const
	Reads set of input-register values from the gripper. More...
GripperOutput	readOutputs () const
	Reads set of output-register values from the gripper. More...
	Robotiq2FGripperEtherCatClient (robotiq_ethercat::EtherCatManager &manager, int slave_no)
	Constructs a control interface to a 2F Robotiq gripper on the given ethercat network and the given slave_no. More...
void	writeOutputs (const GripperOutput &output)
	Write the given set of control flags to the memory of the gripper. More...

Private Attributes
robotiq_ethercat::EtherCatManager &	manager_
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 robotiq_2f_gripper_ethercat_client.h.

Member Typedef Documentation

typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::GripperInput

Definition at line 26 of file robotiq_2f_gripper_ethercat_client.h.

typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::GripperOutput

Definition at line 25 of file robotiq_2f_gripper_ethercat_client.h.

Constructor & Destructor Documentation

robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::Robotiq2FGripperEtherCatClient	(	robotiq_ethercat::EtherCatManager &	manager,
		int	slave_no
	)

Constructs a control interface to a 2F Robotiq gripper on the given ethercat network and the given slave_no.

Parameters

[in]	manager	The interface to an EtherCAT network that the gripper is connected to.
[in]	slave_no	The slave number of the gripper on the EtherCAT network (>= 1)

Definition at line 11 of file robotiq_2f_gripper_ethercat_client.cpp.

Member Function Documentation

Robotiq2FGripperEtherCatClient::GripperInput robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::readInputs

(

)

const

Reads set of input-register values from the gripper.

Returns

The gripper input registers as read from the controller IOMap

Definition at line 37 of file robotiq_2f_gripper_ethercat_client.cpp.

Robotiq2FGripperEtherCatClient::GripperOutput robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::readOutputs

(

)

const

Reads set of output-register values from the gripper.

Returns

The gripper output registers as read from the controller IOMap

Definition at line 61 of file robotiq_2f_gripper_ethercat_client.cpp.

void robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::writeOutputs

(

const GripperOutput &

output

)

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

Parameters

[in]

output

The set of output-register values to write to the gripper

Definition at line 20 of file robotiq_2f_gripper_ethercat_client.cpp.

Member Data Documentation

robotiq_ethercat::EtherCatManager& robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::manager_

private

Definition at line 60 of file robotiq_2f_gripper_ethercat_client.h.

const int robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::slave_no_

private

Definition at line 61 of file robotiq_2f_gripper_ethercat_client.h.

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

• robotiq_2f_gripper_ethercat_client.h
• robotiq_2f_gripper_ethercat_client.cpp