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:

[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):

"control_word" -> 0x6040
"torque_offset" -> 0x60B2
"interpolation_buffer" -> 0x60C1

TPDO (Information from device to PC):

"status_word" -> 0x6041
"measured_torque" -> 0x6077 (which as far as we know are current values)
"measured_position" -> 0x6064

Definition at line 46 of file SchunkPowerBallNode.h.

Member Typedef Documentation

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

Shared pointer to a const SchunkPowerBallNode.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 52 of file SchunkPowerBallNode.h.

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

Shared pointer to a SchunkPowerBallNode.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 50 of file SchunkPowerBallNode.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::SchunkPowerBallNode::SchunkPowerBallNode	(	const uint8_t	node_id,
		const icl_hardware::canopen_schunk::CanDevPtr &	can_device,
		HeartBeatMonitor::Ptr	heartbeat_monitor
	)

Definition at line 37 of file SchunkPowerBallNode.cpp.

Member Function Documentation

bool icl_hardware::canopen_schunk::SchunkPowerBallNode::CommutationCalibrated ( ) [private]

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.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::commutationSearch ( )

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.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::configureHomingMethod ( const uint8_t homing_method ) [virtual]

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_method Note 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_speed	Note that this parameter will be ignored.
high_speed	Note 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.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::initNode ( ) [virtual]

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.

void icl_hardware::canopen_schunk::SchunkPowerBallNode::setDefaultPDOMapping ( const DS402Node::eDefaultPDOMapping mapping ) [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.

Reimplemented from icl_hardware::canopen_schunk::DS402Node.

Definition at line 52 of file SchunkPowerBallNode.cpp.

Member Data Documentation

const double icl_hardware::canopen_schunk::SchunkPowerBallNode::RAD_TO_STEPS_FACTOR = 57295.7795131 [static]

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:

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation