The DS402Group class is the base class for canOpen devices implementing the DS402 device protocol (motors) More...

#include <DS402Group.h>

Inheritance diagram for icl_hardware::canopen_schunk::DS402Group:

Public Types
typedef boost::shared_ptr< const DS402Group >	ConstPtr
	Shared pointer to a const DS402Group. More...

typedef boost::shared_ptr< DS402Group >	Ptr
	Shared pointer to a DS402Group. More...

Public Types inherited from icl_hardware::canopen_schunk::DS301Group
typedef boost::shared_ptr< const DS301Group >	ConstPtr
	Shared pointer to a const DS301Group. More...

typedef boost::shared_ptr< DS301Group >	Ptr
	Shared pointer to a DS301Group. More...

Public Member Functions
virtual void	acceptPPTargets (const int16_t node_id=-1)
	After enabling PP movement, this enables accepting new targets again. Remember to sync all nodes and download RPDOs before and after. More...

virtual void	closeBrakes (const int16_t node_id=-1)
	When the device is in OperationEnabled mode, this function disables the drive motion. More...

virtual void	configureHomingMethod (const int8_t homing_method, const int16_t node_id=-1)
	Set the device's homing method through an SDO (OD 0x6098) More...

virtual void	configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed=0, const int16_t node_id=-1)
	Set the speeds for homing through SDO 6099. Typically, a high speed is used when searching for a home switch and the slow speed is used when searching for the index. More...

virtual void	configureInterpolationCycleTime (const int16_t node_id=-1, const uint8_t interpolation_cycle_time_ms=20)
	Set the interpolation cycle time in milliseconds. If no time is given the default will be used. More...

virtual void	disableNodes (const int16_t node_id=-1)
	Puts the device into STATE_SWITCHED_ON mode. If the device was in InterpolatedPositionMode, interpolation will be stopped here, as well. More...

	DS402Group (const std::string &name="")

virtual void	enableNodes (const ds402::eModeOfOperation operation_mode=ds402::MOO_RESERVED_0, const int16_t node_id=-1)
	Switches on the device and enters Operation Enabled mode with the given mode. If the requested mode is InterpolatedPositionMode, interpolation will be started automatically. More...

virtual void	getModeOfOperation (std::vector< ds402::eModeOfOperation > &modes)
	Gets a vector of the Mode of operation of all nodes within this group. More...

virtual void	getTargetFeedback (std::vector< double > &feedback)
	Depending on the mode of operation, this will return the current position, velocity or torque. More...

virtual void	home (const int16_t node_id=-1)
	Perform homing for nodes. More...

virtual void	initNodes (const int16_t node_id=-1)
	Initializes the node. Tries to query all required data from the device. More...

virtual bool	isModeSupported (const ds402::eModeOfOperation op_mode, const int16_t node_id=-1)
	Tests whether a given mode of operation is supported by the device. More...

virtual bool	isTargetReached (std::vector< bool > &reached_single)
	Returns whether the device has reached it's recent target. More...

virtual void	openBrakes (const int16_t node_id=-1)
	When the device is in OperationEnabled mode, this function enables the drive motion. More...

virtual void	printStatus (const int16_t node_id=-1)
	Prints a stringified version of the statusword to the logging system. More...

virtual void	quickStop (const int16_t node_id=-1)
	This sends the controlword for performing a quick_stop. More...

virtual bool	resetFault (const int16_t node_id=-1)
	This function is used to recover from a fault state. More...

virtual void	setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping, const int16_t node_id=-1)
	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. More...

virtual bool	setModeOfOperation (const ds402::eModeOfOperation op_mode, const int16_t node_id=-1)
	Sets and initializes a mode of operation. First it will check whether the device supports the requested mode. So if you request a mode that the device does not support, it just returns false and does nothing. More...

virtual bool	setTarget (const std::vector< float > &targets)
	Sets the target for the motor. What that target is, depends on the selected mode of operation. The value will be clamped into the range value that is defined by the CanOpen specification. More...

virtual bool	setTarget (const float target, const uint8_t node_id)
	Sets the target for the motor. What that target is, depends on the selected mode of operation. The value will be clamped into the range value that is defined by the CanOpen specification. More...

virtual void	setupHomingMode (const ds402::HomingModeConfiguration &config, const int16_t node_id=-1)
	Configure the mandatory parameters for a homing mode. More...

virtual void	setupProfilePositionMode (const ds402::ProfilePositionModeConfiguration &config, const int16_t node_id=-1)
	Configure the mandatory parameters for a profile position mode. More...

virtual void	setupProfileTorqueMode (const ds402::ProfileTorqueModeConfiguration &config, const int16_t node_id=-1)
	Configure the mandatory parameters for a profile torque mode. More...

virtual void	setupProfileVelocityMode (const ds402::ProfileVelocityModeConfiguration &config, const int16_t node_id=-1)
	Configure the mandatory parameters for a profile velocity mode. More...

virtual void	startPPMovement (const int16_t node_id=-1)
	This sets the RPDO communication for enabling the movement after a target has been set. Note, that sync and pdo-download has to be called in between setting the target and enabling movement. Afterwards call acceptPPTarget() to enable setting following targets. More...

Public Member Functions inherited from icl_hardware::canopen_schunk::DS301Group
virtual void	appendPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const DS301Node::ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0, const int16_t node_id=-1)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping. More...

virtual bool	deleteNodeFromId (const uint8_t node_id)
	Deletes a node with a given node id from the node list, if it is present. If the node can't be found in this group, this function will return false;. More...

virtual void	deleteNodes (std::vector< uint8_t > &deleted_ids)
	Deletes all nodes assigned to the group. More...

void	downloadPDOs ()

	DS301Group (const std::string &name="")

std::string	getName () const
	Returns the group's identifier string. More...

virtual std::vector< DS301Node::Ptr >	getNodes () const
	Returns the group's node vector. More...

virtual void	initPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const DS301Node::ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0, const int16_t node_id=-1)
	Init PDO mapping with a given mapping configuration for a given pdo nr. More...

void	printPDOMapping (const uint8_t node_id=-1)
	Will query the PDO mapping from the device and print that to the output. More...

void	registerWSBroadcaster (boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster)
	registerWSBroadcaster Adds a debug interface More...

void	uploadPDOs ()

Protected Member Functions
template<typename NodeT >
DS301Node::Ptr	addNode (const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
	Creates a new node and adds it to the group. More...

Protected Member Functions inherited from icl_hardware::canopen_schunk::DS301Group
template<typename NodeT >
DS301Node::Ptr	addNode (const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
	Creates a new DS301Node and adds it to the group-. More...

Protected Attributes
std::vector< DS402Node::Ptr >	m_ds402_nodes

Protected Attributes inherited from icl_hardware::canopen_schunk::DS301Group
std::string	m_name

std::vector< DS301Node::Ptr >	m_nodes

boost::shared_ptr< icl_comm::websocket::WsBroadcaster >	m_ws_broadcaster
	Interface to send out diagnostics data. Only available if compiled with IC_BUILDER_ICL_COMM_WEBSOCKET More...

Friends
class	CanOpenController

Detailed Description

The DS402Group class is the base class for canOpen devices implementing the DS402 device protocol (motors)

The DS402Group provides interfaces to a group of canOpen defices implementing the DS402 device profile. This includes mainly the management of the internal statemachine by NMT protocoll but also interfaces for inclusion into custom software such as setTarget or getStatus which can be uses for cyclic commandation of target positions (or other values if so desired) The DS402Group is intentionally kept generic in its interface as it is supposed to control various DS402 devices. If a more specific interface is required for the devices it is intended that the developer inherits from this class and implements further interfaces. By building on the DS301Group the most common functionalities of the canOpen protocol should be inherited

Definition at line 45 of file DS402Group.h.

Member Typedef Documentation

typedef boost::shared_ptr<const DS402Group> icl_hardware::canopen_schunk::DS402Group::ConstPtr

Shared pointer to a const DS402Group.

Definition at line 51 of file DS402Group.h.

typedef boost::shared_ptr<DS402Group> icl_hardware::canopen_schunk::DS402Group::Ptr

Shared pointer to a DS402Group.

Definition at line 49 of file DS402Group.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::DS402Group::DS402Group ( const std::string & name = "" )

Definition at line 30 of file DS402Group.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::DS402Group::acceptPPTargets ( const int16_t node_id = -1 )

virtual

After enabling PP movement, this enables accepting new targets again. Remember to sync all nodes and download RPDOs before and after.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 120 of file DS402Group.cpp.

template<typename NodeT >

DS301Node::Ptr icl_hardware::canopen_schunk::DS402Group::addNode	(	const uint8_t	node_id,
		const CanDevPtr	can_device,
		HeartBeatMonitor::Ptr	heartbeat_monitor
	)

protected

Creates a new node and adds it to the group.

Note: This method is protected, as new nodes should be added through the controller only (Which is why the controller is a friend class)

Parameters

node_id	ID of the new node
can_device	Shared pointer to the can device

Returns: shared pointer to the new DS301Node

Definition at line 31 of file DS402Group.hpp.

void icl_hardware::canopen_schunk::DS402Group::closeBrakes ( const int16_t node_id = -1 )

virtual

When the device is in OperationEnabled mode, this function disables the drive motion.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 424 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::configureHomingMethod	(	const int8_t	homing_method,
		const int16_t	node_id = `-1`
	)

virtual

Set the device's homing method through an SDO (OD 0x6098)

Parameters

node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.
homing_method	Homing method index that should be used

Definition at line 347 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::configureHomingSpeeds	(	const uint32_t	low_speed,
		const uint32_t	high_speed = `0`,
		const int16_t	node_id = `-1`
	)

virtual

Set the speeds for homing through SDO 6099. Typically, a high speed is used when searching for a home switch and the slow speed is used when searching for the index.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 333 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::configureInterpolationCycleTime	(	const int16_t	node_id = `-1`,
		const uint8_t	interpolation_cycle_time_ms = `20`
	)

virtual

Set the interpolation cycle time in milliseconds. If no time is given the default will be used.

Parameters

node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.
interpolation_cycle_time_ms	Interpolation cycle time in milliseconds

Definition at line 319 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::disableNodes ( const int16_t node_id = -1 )

virtual

Puts the device into STATE_SWITCHED_ON mode. If the device was in InterpolatedPositionMode, interpolation will be stopped here, as well.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 383 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::enableNodes	(	const ds402::eModeOfOperation	operation_mode = `ds402::MOO_RESERVED_0`,
		const int16_t	node_id = `-1`
	)

virtual

Switches on the device and enters Operation Enabled mode with the given mode. If the requested mode is InterpolatedPositionMode, interpolation will be started automatically.

Parameters

operation_mode	DS402 Operation mode that should be used. If left blank, no mode will be set. However, then you should make sure to set it in advance (Which might be done in initialization already).
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 361 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::getModeOfOperation ( std::vector< ds402::eModeOfOperation > & modes )

virtual

Gets a vector of the Mode of operation of all nodes within this group.

Parameters

[out] modes Vector of all modes of operation in this group.

Note: : The order in this vector is the one, the nodes have been added to the group!

Definition at line 176 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::getTargetFeedback ( std::vector< double > & feedback )

virtual

Depending on the mode of operation, this will return the current position, velocity or torque.

Parameters

[out] feedback Vector of target_feedback for all nodes in this group.

Note: The entries in this vector don't necessarily represent the same physical property, as nodes could be in different modes of operation.; : The order in this vector is the one, the nodes have been added to the group!

Definition at line 134 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::home ( const int16_t node_id = -1 )

virtual

Perform homing for nodes.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 162 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::initNodes ( const int16_t node_id = -1 )

virtual

Initializes the node. Tries to query all required data from the device.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 35 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::isModeSupported	(	const ds402::eModeOfOperation	op_mode,
		const int16_t	node_id = `-1`
	)

virtual

Tests whether a given mode of operation is supported by the device.

Note: This function will only compare it to the cached information about supported modes. The user has to call querySupportedDeviceModes() at some earlier point.

Parameters

op_mode	Mode of operation that should be checked
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Returns: True if mode is supported by all nodes, false otherwise.

Definition at line 207 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::isTargetReached ( std::vector< bool > & reached_single )

virtual

Returns whether the device has reached it's recent target.

Parameters

[out] reached_single Boolean vector that contains the taget-reached status for each node individually.

Returns: True, if current target is reached for all nodes, false otherwise

Definition at line 444 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::openBrakes ( const int16_t node_id = -1 )

virtual

When the device is in OperationEnabled mode, this function enables the drive motion.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 404 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::printStatus ( const int16_t node_id = -1 )

virtual

Prints a stringified version of the statusword to the logging system.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 50 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::quickStop ( const int16_t node_id = -1 )

virtual

This sends the controlword for performing a quick_stop.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 224 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::resetFault ( const int16_t node_id = -1 )

virtual

This function is used to recover from a fault state.

It clears the error register and performs state transition 15.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 302 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::setDefaultPDOMapping	(	const DS402Node::eDefaultPDOMapping	mapping,
		const int16_t	node_id = `-1`
	)

virtual

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

mapping	Mapping that should be set.
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 148 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::setModeOfOperation	(	const ds402::eModeOfOperation	op_mode,
		const int16_t	node_id = `-1`
	)

virtual

Sets and initializes a mode of operation. First it will check whether the device supports the requested mode. So if you request a mode that the device does not support, it just returns false and does nothing.

Parameters

op_mode	Operation mode according to ds402::eModeOfOperation.
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Returns: True if mode was successfully initialized for all nodes, false otherwise.

Definition at line 190 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::setTarget ( const std::vector< float > & targets )

virtual

Sets the target for the motor. What that target is, depends on the selected mode of operation. The value will be clamped into the range value that is defined by the CanOpen specification.

It might be for example a position, a velocity or a torque. For transmission to the device PDOs are used. Make sure that those PDOs are configured correctly

Parameters

targets	Vector of targets for all nodes value for current mode of operation
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Returns: True if target could be set for all nodes, false otherwise

Definition at line 81 of file DS402Group.cpp.

bool icl_hardware::canopen_schunk::DS402Group::setTarget	(	const float	target,
		const uint8_t	node_id
	)

virtual

Sets the target for the motor. What that target is, depends on the selected mode of operation. The value will be clamped into the range value that is defined by the CanOpen specification.

It might be for example a position, a velocity or a torque. For transmission to the device PDOs are used. Make sure that those PDOs are configured correctly

Parameters

target	Target value for current mode of operation
node_id	Node-ID of the node this target should be applied to

Returns: True if target could be set, false otherwise

Definition at line 64 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::setupHomingMode	(	const ds402::HomingModeConfiguration &	config,
		const int16_t	node_id = `-1`
	)

virtual

Configure the mandatory parameters for a homing mode.

Parameters

config	Struct of mandatory parameters for a homing mode
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 260 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::setupProfilePositionMode	(	const ds402::ProfilePositionModeConfiguration &	config,
		const int16_t	node_id = `-1`
	)

virtual

Configure the mandatory parameters for a profile position mode.

Parameters

config	Struct of parameters used for profile position mode
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 246 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::setupProfileTorqueMode	(	const ds402::ProfileTorqueModeConfiguration &	config,
		const int16_t	node_id = `-1`
	)

virtual

Configure the mandatory parameters for a profile torque mode.

Parameters

config	Struct of mandatory parameters for a profile torque mode
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 288 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::setupProfileVelocityMode	(	const ds402::ProfileVelocityModeConfiguration &	config,
		const int16_t	node_id = `-1`
	)

virtual

Configure the mandatory parameters for a profile velocity mode.

Parameters

config	Struct of mandatory parameters for a profile velocity mode
node_id	If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 274 of file DS402Group.cpp.

void icl_hardware::canopen_schunk::DS402Group::startPPMovement ( const int16_t node_id = -1 )

virtual

This sets the RPDO communication for enabling the movement after a target has been set. Note, that sync and pdo-download has to be called in between setting the target and enabling movement. Afterwards call acceptPPTarget() to enable setting following targets.

Parameters

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 106 of file DS402Group.cpp.

Friends And Related Function Documentation

friend class CanOpenController

friend

Definition at line 329 of file DS402Group.h.

Member Data Documentation

std::vector<DS402Node::Ptr> icl_hardware::canopen_schunk::DS402Group::m_ds402_nodes

protected

Definition at line 326 of file DS402Group.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation