| ►Nyoubot | |
| CActivateOvervoltageProtection | Enable overvoltage protection |
| CActualAcceleration | The current acceleration (read only) |
| CActualCommutationOffset | This value represents the internal commutation offset. (0 ... max. Encoder steps per rotation) |
| CActualLoadValue | Readout of the actual load value with used for stall detection (stallGuard2) |
| CActualModuleSupplyCurrent | Get actual supply current of the module |
| CActualMotorDriverTemperature | Actual temperature of the motor driver |
| CActualMotorVoltage | Actual supply voltage |
| CActualPosition | Actual position of one gripper bar |
| CActualVelocity | Actual velocity of one gripper bar |
| CApproveProtectedParameters | Enter a password to approve the change of protected parameters |
| CBarSpacingOffset | Represents a bar spacing offset. It could be useful if the gripper can not be totally closed |
| CBaseKinematic | Abstract class of a base / platform kinematic |
| CBEMFConstant | BEMF constant of motor. Used for current regulation, position regulation and velocity regulation. Feed forward control for current regulation, position regulation and velocity regulation is disabled if BEMF constant is set to zero |
| CCalibrateGripper | Calibrate the gripper |
| CCalibrateJoint | Calibrates the joint |
| CChopperBlankTime | Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is good |
| CChopperHysteresisDecrement | |
| CChopperHysteresisEnd | |
| CChopperHysteresisStart | Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value |
| CChopperMode | |
| CChopperOffTime | |
| CClearI2tExceededFlag | Clear the flag that indicates that the I2t sum has exceeded the I2t limit |
| CClearMotorControllerTimeoutFlag | Clear the flag that indicates a communication timeout between the EtherCAT master and the controller |
| CCommutationMode | |
| CCommutationMotorCurrent | Motor current for controlled commutation. This parameter is used in commutation mode 1, 4, 5 and in initialization of sine |
| CConfigFile | Reads and writes a configuration file |
| CCurrentControlLoopDelay | Delay of current limitation algorithm / PID current regulator |
| CCurrentError | Actual error of current PID regulator |
| CCurrentErrorSum | Sum of errors of current PID regulator |
| ►CDataObjectLockFree | This DataObject is a Lock-Free implementation, such that reads and writes can happen concurrently without priority inversions |
| CDataBuf | |
| CDataTrace | Creates a trace of all process data and reads all configuration parameter from one joint |
| CDoubleStepEnable | |
| CDParameterCurrentControl | D-Parameter of PID current regulator |
| CDParameterFirstParametersPositionControl | D-Parameter of PID position regulator (first position parameter set) |
| CDParameterFirstParametersSpeedControl | D-Parameter of PID velocity regulator. This PID parameter set is used at lower velocity. (first velocity parameter set) |
| CDParameterSecondParametersPositionControl | D-Parameter of PID position regulator (second position parameter set) |
| CDParameterSecondParametersSpeedControl | D-Parameter of PID velocity regulator (second position parameter set) |
| CDParameterTrajectoryControl | D-Parameter of PID trajectory regulator |
| CEncoderResolution | Encoder Steps per Rotation |
| CEncoderStopSwitch | |
| CEncoderTicksPerRound | Resolution of the encoders, it is needed for the calculations of the youBot Driver |
| CErrorAndStatus | |
| CErrorFlags | |
| CEtherCATConnectionException | EtherCAT Connection Error |
| CEthercatMaster | The Ethercat Master factory |
| CEthercatMasterInterface | The Ethercat Master interface |
| CEthercatMasterWithoutThread | |
| CEthercatMasterWithThread | |
| CFileNotFoundException | File not found exception |
| CFirmwareVersion | Firmware version of the joint |
| CFourSwedishWheelOmniBaseKinematic | Implementation of a base kinematic with four swedish wheels. The youBot base kinematic |
| CFourSwedishWheelOmniBaseKinematicConfiguration | Configuration for the base kinematic with four swedish wheels |
| CFreewheeling | |
| CGearRatio | Gear ratio which is needed for the calculations in the youBot driver |
| CGripper | Abstract gripper |
| CGripperBarEncoderSetpoint | The encoder setpoint for one bar |
| CGripperBarName | The name for a gripper bar or finger |
| CGripperBarPositionSetPoint | The bar position for a one gripper bar |
| CGripperBarSpacingSetPoint | Setpoint length of the bar spacing for a one DOF gripper |
| CGripperData | Abstract class of gripper data |
| CGripperDataTrace | Creates a trace of one parameter of the gripper |
| CGripperFirmwareVersion | Firmware version of the gripper |
| CGripperParameter | Abstract gripper parameter |
| CGripperSensedBarPosition | The sensed bar position for a one gripper bar |
| CGripperSensedBarSpacing | The sensed bar spacing for a one DOF gripper |
| CGripperSensedVelocity | The sensed bar velocity for a one DOF gripper |
| CHallSensorPolarityReversal | Hall sensor invert. Sets one of the motors invert with inverted hall scheme, e.g. some Maxon motors |
| CI2tExceedCounter | Counts how often an I2t sum was higher than the I2t limit |
| CI2tLimit | An actual I2t sum that exceeds this limit leads to increasing the I2t exceed counter |
| CI2tSum | Actual sum of the I2t monitor |
| CIClippingParameterCurrentControl | I-Clipping Parameter of PID current regulator |
| CIClippingParameterFirstParametersPositionControl | Adjust in standstill to lowest possible value at which the motor keeps its position. A too high value causes overshooting at positioning mode. (first position parameter set) |
| CIClippingParameterFirstParametersSpeedControl | This PID parameter set is used at lower velocity. (first velocity parameter set) |
| CIClippingParameterSecondParametersPositionControl | Adjust in standstill to lowest possible value at which the motor keeps its position. A too high value causes overshooting at positioning mode. (second position parameter set) |
| CIClippingParameterSecondParametersSpeedControl | I-Clipping Parameter of PID current regulator. This PID parameter set is used at lower velocity. (second position parameter set) |
| CIClippingParameterTrajectoryControl | Gives a limit for the I sum part of the trajectory regulator |
| CInitializationMode | |
| CInitializeJoint | Initialize Joint |
| CInitSineDelay | Duration for sine initialization sequence. This parameter should be set in a way, that the motor has stopped mechanical oscillations after the specified time |
| CInverseMovementDirection | Inverse the joint movement direction |
| CIParameterCurrentControl | I-Parameter of PID current regulator |
| CIParameterFirstParametersPositionControl | I-Parameter of PID position regulator (first position parameter set) |
| CIParameterFirstParametersSpeedControl | I-Parameter of PID velocity regulator. This PID parameter set is used at lower velocity. (first velocity parameter set) |
| CIParameterSecondParametersPositionControl | I-Parameter of PID position regulator (second position parameter set) |
| CIParameterSecondParametersSpeedControl | I-Parameter of PID velocity regulator (second position parameter set) |
| CIParameterTrajectoryControl | I-Parameter of PID trajectory regulator |
| CJoint | Abstract joint |
| CJointAngleSetpoint | Set-point angle / position of the joint |
| CJointComputedData | Abstract data class for computed joint data |
| CJointComputedSetpoint | Abstract data class for computed joint data setpoints |
| CJointControllerComputedData | Abstract data class for data which have been computed by the hardware controller |
| CJointCurrentSetpoint | Set-point current of the joint |
| CJointData | Abstract data class for joints |
| CJointDataSetpoint | Abstract data class for commanded joint data |
| CJointEncoderSetpoint | Encoder ticks setpoint of the joint |
| CJointErrorException | Joint error exception |
| CJointLimitMonitor | It monitors the joint position and will decelerate and stop the joint if it is close the limits |
| CJointLimits | Joint position limits in encoder ticks |
| CJointLimitsRadian | Joint position limits in radian |
| CJointName | Name of the joint |
| CJointParameter | Abstract joint parameter |
| CJointParameterException | Joint parameter exception |
| CJointPWMSetpoint | Pulse-width modulation set-point of the joint |
| CJointRampGeneratorVelocity | Sensed velocity of the joint |
| CJointRoundsPerMinuteSetpoint | Rounds per minute set-point of the joint |
| CJointSensedAngle | Sensed position / angle of the joint |
| CJointSensedCurrent | Sensed electric current of the joint |
| CJointSensedData | Abstract data class for sensed / measured joint data |
| CJointSensedEncoderTicks | Sensed encoder ticks of the joint |
| CJointSensedPWM | Actual pwm value of the joint |
| CJointSensedRoundsPerMinute | Sensed rounds per minute (rpm) of the joint |
| CJointSensedTorque | This torque of the joint is computed from the actual current |
| CJointSensedVelocity | Sensed velocity of the joint |
| CJointTorqueSetpoint | The torque set-point of the joint will be set by setting the computed current set-point |
| CJointTrajectory | Joint Trajectory representation |
| CJointTrajectoryController | Joint Trajectory Controller |
| CJointVelocitySetpoint | Set-point velocity of the joint |
| CKeyNotFoundException | Key in configuration file not found exception |
| CLogger | Implementation logging to console and to a file |
| CmailboxInputBuffer | Input part from the EtherCAT mailbox message of the youBot slaves |
| CmailboxOutputBuffer | Output part from the EtherCAT mailbox message of the youBot slaves |
| CMassInertiaConstant | Mass inertia constant for position regulation. Compensates mass moment of inertia of rotor |
| CMaxEncoderValue | The encoder value when the gripper has reached it's maximum bar spacing position |
| CMaximumAcceleration | Acceleration parameter for velocity control and position control |
| CMaximumCurrent | The most important motor setting, since too high values might cause motor damage! The maximum value is 255. This value means 100% of the maximum current of the module. The current adjustment is within the range 0... 255 and can be adjusted in 32 steps (0... 255 divided by eight; e.g. step 0 = 0... 7, step 1 = 8... 15 and so on) |
| CMaximumMotorCurrent | Maximum allowed current |
| CMaximumPositioningSpeed | The limit for acceleration (and deceleration). Changing this parameter requires re-calculation of the acceleration factor (no. 146) and the acceleration divisor (no. 137), which is done automatically |
| CMaximumPositioningVelocity | The maximum velocity used for move to position command when executing a ramp to a position. In sensorless commutation mode the velocity threshold for hallFX. In sensorless commutation mode used as velocity threshold for hallFXTM. Set this value to a realistic velocity which the motor can reach! |
| CMaximumVelocityToSetPosition | Maximum velocity at which end position can be set. Prevents issuing of end position when the target is passed at high velocity |
| CMaxTravelDistance | The maximum bar spacing distance of the gripper |
| CMicrostepResolution | |
| CMinimumSpeed | Should always be set 1 to ensure exact reaching of the target position. Do not change! |
| CMotorAcceleration | Acceleration parameter for velocity control and position control |
| CMotorCoilResistance | Resistance of motor coil. Used for current resistance regulation, position regulation and velocity regulation |
| CMotorControllerTimeout | Set/Get Timeout to determine an interrupted communication with the EtherCAT master. (automatically stored in EEProm) |
| CMotorHaltedVelocity | If the actual speed is below this value the motor halted flag will be set. [rpm] |
| CMotorPoles | Number of motor poles |
| COneDOFGripper | Abstract gripper with one degree of freedom |
| COneDOFGripperData | Abstract class of data for gripper with one degree of freedom |
| COperationalTime | Counts the module operational time |
| CParameter | Abstract parameter |
| CPidController | A basic pid class |
| CPIDControlTime | PID calculation delay: Set operational frequency PID |
| CPositionControlSwitchingThreshold | Switching threshold for position control between the first and second set of parameters. If the velocity threshold is set to zero, the parameter set 2 is used all the time |
| CPositionError | Actual error of PID position regulator |
| CPositionErrorSum | Sums of errors of PID position regulator |
| CPositionSetpoint | Position setpoint for one gripper bar |
| CPositionTargetReachedDistance | Maximum distance at which the position end flag is set |
| CPowerDownDelay | Standstill period before the current is changed down to standby current. The standard value is 200 (value equates 2000msec) |
| CPParameterCurrentControl | P-Parameter of PID current regulator |
| CPParameterFirstParametersPositionControl | P-Parameter of PID position regulator (first position parameter set) |
| CPParameterFirstParametersSpeedControl | P-Parameter of PID velocity regulator. This PID parameter set is used at lower velocity. (first velocity parameter set) |
| CPParameterSecondParametersPositionControl | P-Parameter of PID position regulator (second position parameter set) |
| CPParameterSecondParametersSpeedControl | P-Parameter of PID velocity regulator (second position parameter set) |
| CPParameterTrajectoryControl | P-Parameter of PID trajectory regulator |
| CPulseDivisor | The exponent of the scaling factor for the pulse (step) generator should be de/incremented carefully (in steps of one) |
| CRampDivisor | The exponent of the scaling factor for the ramp generator- should be de/incremented carefully (in steps of one) |
| CRampGeneratorSpeed | The actual speed of the velocity ramp used for positioning and velocity mode |
| CRampGeneratorSpeedAndPositionControl | Switches the ramp generator for speed and position control on and off |
| CRampMode | |
| CReversingEncoderDirection | Encoder direction Set this flag in a way, that turn right increases position counter |
| CSegment | Joint trajectory segment |
| CSetEncoderCounterZeroAtNextNChannel | Set Encoder counter to zero at next N channel event |
| CSetEncoderCounterZeroAtNextSwitch | Set encoder counter to zero at next switch event |
| CSetEncoderCounterZeroOnlyOnce | |
| CShortDetectionTimer | |
| CShortProtectionDisable | |
| CSineInitializationVelocity | Velocity for sine initialization. [rpm] |
| CSlaveMessageInput | Input part from the EtherCat message of the youBot EtherCat slaves |
| CSlaveMessageOutput | Output part from the EtherCat message of the youBot EtherCat slaves |
| CSlopeControlHighSide | |
| CSlopeControlLowSide | Determines the slope of the motor driver outputs. Set identical to slope control high side |
| CSmartEnergyActualCurrent | |
| CSmartEnergyCurrentDownStep | |
| CSmartEnergyCurrentMinimum | |
| CSmartEnergyCurrentUpStep | |
| CSmartEnergyHysteresis | |
| CSmartEnergyHysteresisStart | The lower threshold for the stallGuard2 value (see smart Energy current up step) |
| CSmartEnergySlowRunCurrent | Sets the motor current which is used below the threshold speed |
| CSmartEnergyThresholdSpeed | Above this speed coolStep becomes enabled |
| CSortTreeVector | Keep track of sortorder from original configfile |
| CSpeedControlSwitchingThreshold | Adjusts the limit to switch between first velocity PID parameter set and second velocity PID parameter set. If the velocity threshold is set to zero, the parameter set 2 is used all the time |
| CSpline | |
| CStallGuard2FilterEnable | |
| CStallGuard2Threshold | |
| CStandbyCurrent | The current limit two seconds after the motor has stopped |
| CStepInterpolationEnable | |
| CStopOnStall | Motor stop in case of stall |
| CStopSwitchPolarity | |
| CTargetPositionReached | Indicates that the actual position equals the target position |
| CThermalWindingTimeConstant | Thermal winding time constant for the used motor. Used for I2t monitoring |
| CTorqueConstant | Resolution of the encoders, it is needed for the calculations of the youBot Driver |
| CTrajectorySegment | Joint Trajectory Segment |
| CVelocityError | Actual error of PID velocity regulator |
| CVelocityErrorSum | Sums of Errors of PID velocity regulator |
| CVelocitySetpoint | Velocity setpoint for one gripper bar |
| CVelocityThresholdForHallFX | Velocity to switch from controlled to hallFX mode. Set this value to a realistic velocity which the motor can reach in controlled mode! |
| CVsense | |
| CWheeledBaseKinematic | Abstract class of a wheeled based / platform kinematic |
| CYouBotApiJointParameter | Abstract youBot API joint parameter |
| CYouBotBase | It groups the base joints together |
| CYouBotGripper | The youBot gripper with one degree of freedom |
| CYouBotGripperBar | One bar of the youBot gripper |
| CYouBotGripperParameter | Abstract youBot gripper parameter |
| CYouBotJoint | |
| CYouBotJointParameter | Abstract youBot joint parameter |
| CYouBotJointParameterPasswordProtected | Abstract youBot joint parameter |
| CYouBotJointParameterReadOnly | Abstract youBot joint parameter which can be read only |
| CYouBotJointStorage | Stores YouBotJoint informations which are needed in the driver |
| CYouBotManipulator | It groups the manipulator joints and the gripper together |
| CYouBotSlaveMailboxMsg | EtherCAT mailbox message of the youBot slaves |
| CYouBotSlaveMailboxMsgThreadSafe | EtherCAT mailbox message of the youBot slaves (thread safe) |
| CYouBotSlaveMsg | EtherCat message of the youBot EtherCat slaves |
| CYouBotSlaveMsgThreadSafe | EtherCat message of the youBot EtherCat slaves which is thread safe |
| Cbfin_emac_regs | |
| Cec_adapter | |
| Cec_ALstatuscodelist_t | |
| Cec_eepromFMMUt | |
| Cec_eepromPDOt | |
| Cec_eepromSMt | |
| Cec_eringt | |
| Cec_errort | |
| Cec_groupt | |
| Cec_idxstackT | |
| Cec_mbxerrorlist_t | |
| Cec_ODlistt | |
| Cec_OElistt | |
| Cec_sdoerrorlist_t | |
| Cec_slavet | |
| Cec_soeerrorlist_t | |
| Cec_stackT | |
| Cec_timet | |
| Cecx_contextt | |
| Cecx_portt | |
| Cecx_redportt | |
| Cethernet_data | |
| Cimaxdiv_t | |
| Coro__xchg_dummy | |
| Coro_atomic_t | |
| Cosal_timer | |
| CPACKED | |
| CYouBotArmTest | A unit test for the youBot arm |
| CYouBotArmTestWithoutThread | A unit test for the youBot arm |
| CYouBotBaseKinematicsTest | A unit test for the base kinematics |
| CYouBotBaseTest | A unit test for the youBot base |
| CYouBotBaseTestWithoutThread | A unit test for one youbot joint communicating without a thread |
| CYouBotGripperTest | A unit test for the youBot gripper |