ds402.h File Reference

#include "Logging.h"

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Classes
union	icl_hardware::canopen_schunk::ds402::Controlword
	data union for access to DSP 402 6040 controlword, More...
struct	icl_hardware::canopen_schunk::ds402::Controlword_
	bit field for DSP 402 6040 controlword, More...
struct	icl_hardware::canopen_schunk::ds402::HomingModeConfiguration
	Configuration parameters for a Homing_Mode according to CiA DSP-402 V1.1 section 13.2.1. More...
struct	icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration
	Configuration parameters for a Profile_Position_Mode according to CiA DSP-402 V1.1 section 12.2.1. More...
struct	icl_hardware::canopen_schunk::ds402::ProfileTorqueModeConfiguration
	Configuration parameters for a Profile_Torque_Mode according to CiA DSP-402 V1.1 section 17.2.1. More...
struct	icl_hardware::canopen_schunk::ds402::ProfileVelocityModeConfiguration
	Configuration parameters for a Profile_Velocity_Mode according to CiA DSP-402 V1.1 section 16.2.1. More...
union	icl_hardware::canopen_schunk::ds402::Statusword
	data union for access to DSP 402 6041 statusword, More...
struct	icl_hardware::canopen_schunk::ds402::Statusword_
	bit field for DSP 402 6041 statusword, More...
union	icl_hardware::canopen_schunk::ds402::SupportedDriveModes
	data union for access to DSP 402 6041 statusword, More...
struct	icl_hardware::canopen_schunk::ds402::SupportedDriveModes_
Namespaces
namespace	icl_hardware
namespace	icl_hardware::canopen_schunk
namespace	icl_hardware::canopen_schunk::ds402
Enumerations
enum	icl_hardware::canopen_schunk::ds402::eModeOfOperation {   icl_hardware::canopen_schunk::ds402::MOO_RESERVED_0 = 0, icl_hardware::canopen_schunk::ds402::MOO_PROFILE_POSITION_MODE = 1, icl_hardware::canopen_schunk::ds402::MOO_VELOCITY_MODE = 2, icl_hardware::canopen_schunk::ds402::MOO_PROFILE_VELOCITY_MODE = 3,   icl_hardware::canopen_schunk::ds402::MOO_PROFILE_TORQUE_MODE = 4, icl_hardware::canopen_schunk::ds402::MOO_RESERVED_1 = 5, icl_hardware::canopen_schunk::ds402::MOO_HOMING_MODE = 6, icl_hardware::canopen_schunk::ds402::MOO_INTERPOLATED_POSITION_MODE = 7,   icl_hardware::canopen_schunk::ds402::MOO_CYCLIC_SYNC_POSITION_MODE = 8, icl_hardware::canopen_schunk::ds402::MOO_CYCLIC_SYNC_VELOCITY_MODE = 9, icl_hardware::canopen_schunk::ds402::MOO_CYCLIC_SYNC_TORQUE_MODE = 10 }
enum	icl_hardware::canopen_schunk::ds402::eState {   icl_hardware::canopen_schunk::ds402::STATE_START, icl_hardware::canopen_schunk::ds402::STATE_NOT_READY_TO_SWITCH_ON, icl_hardware::canopen_schunk::ds402::STATE_SWITCH_ON_DISABLED, icl_hardware::canopen_schunk::ds402::STATE_READY_TO_SWITCH_ON,   icl_hardware::canopen_schunk::ds402::STATE_SWITCHED_ON, icl_hardware::canopen_schunk::ds402::STATE_OPERATION_ENABLE, icl_hardware::canopen_schunk::ds402::STATE_QUICKSTOP_ACTIVE, icl_hardware::canopen_schunk::ds402::STATE_FAULT_REACTION_ACTIVE,   icl_hardware::canopen_schunk::ds402::STATE_FAULT }
	DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000. More...
enum	icl_hardware::canopen_schunk::ds402::eStateTransission {   icl_hardware::canopen_schunk::ds402::STATE_TRANS_INITIALIZE = 1, icl_hardware::canopen_schunk::ds402::STATE_TRANS_SHUTDOWN = 2, icl_hardware::canopen_schunk::ds402::STATE_TRANS_SWITCH_ON = 3, icl_hardware::canopen_schunk::ds402::STATE_TRANS_ENABLE_OPERATION = 4,   icl_hardware::canopen_schunk::ds402::STATE_TRANS_QUICK_STOP = 11, icl_hardware::canopen_schunk::ds402::STATE_TRANS_FAULT_RESET = 15 }
Functions
std::string	icl_hardware::canopen_schunk::ds402::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	icl_hardware::canopen_schunk::ds402::operationModeString (const eModeOfOperation mode)
eState	icl_hardware::canopen_schunk::ds402::stateFromStatusword (const ds402::Statusword &statusword)
Variables
static const uint16_t	icl_hardware::canopen_schunk::ds402::ID_CONTROL_WORD = 0x6040
static const uint16_t	icl_hardware::canopen_schunk::ds402::ID_STATUS_WORD = 0x6041

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Detailed Description

Author:

Georg Heppner <heppner@fzi.de>

Felix Mauch <mauch@fzi.de>

Date:

2015-10-1

The ds402.h file contains common protocol information such as constants, enums and common helper functions for components working with the DS402 device protocol (canOpen protocol for motor drives) This includes data types for the status and control word that provide a central element for device configuration

Definition in file ds402.h.