Classes | |
| union | Controlword |
| data union for access to DSP 402 6040 controlword, More... | |
| struct | Controlword_ |
| bit field for DSP 402 6040 controlword, More... | |
| struct | HomingModeConfiguration |
| Configuration parameters for a Homing_Mode according to CiA DSP-402 V1.1 section 13.2.1. More... | |
| struct | ProfilePositionModeConfiguration |
| Configuration parameters for a Profile_Position_Mode according to CiA DSP-402 V1.1 section 12.2.1. More... | |
| struct | ProfileTorqueModeConfiguration |
| Configuration parameters for a Profile_Torque_Mode according to CiA DSP-402 V1.1 section 17.2.1. More... | |
| struct | ProfileVelocityModeConfiguration |
| Configuration parameters for a Profile_Velocity_Mode according to CiA DSP-402 V1.1 section 16.2.1. More... | |
| union | Statusword |
| data union for access to DSP 402 6041 statusword, More... | |
| struct | Statusword_ |
| bit field for DSP 402 6041 statusword, More... | |
| union | SupportedDriveModes |
| data union for access to DSP 402 6041 statusword, More... | |
| struct | SupportedDriveModes_ |
Enumerations | |
| enum | eModeOfOperation { MOO_RESERVED_0 = 0, MOO_PROFILE_POSITION_MODE = 1, MOO_VELOCITY_MODE = 2, MOO_PROFILE_VELOCITY_MODE = 3, MOO_PROFILE_TORQUE_MODE = 4, MOO_RESERVED_1 = 5, MOO_HOMING_MODE = 6, MOO_INTERPOLATED_POSITION_MODE = 7, MOO_CYCLIC_SYNC_POSITION_MODE = 8, MOO_CYCLIC_SYNC_VELOCITY_MODE = 9, MOO_CYCLIC_SYNC_TORQUE_MODE = 10 } |
| enum | eState { STATE_START, STATE_NOT_READY_TO_SWITCH_ON, STATE_SWITCH_ON_DISABLED, STATE_READY_TO_SWITCH_ON, STATE_SWITCHED_ON, STATE_OPERATION_ENABLE, STATE_QUICKSTOP_ACTIVE, STATE_FAULT_REACTION_ACTIVE, STATE_FAULT } |
| DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000. More... | |
| enum | eStateTransission { STATE_TRANS_INITIALIZE = 1, STATE_TRANS_SHUTDOWN = 2, STATE_TRANS_SWITCH_ON = 3, STATE_TRANS_ENABLE_OPERATION = 4, STATE_TRANS_QUICK_STOP = 11, STATE_TRANS_FAULT_RESET = 15 } |
Functions | |
| std::string | 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 | operationModeString (const eModeOfOperation mode) |
| eState | stateFromStatusword (const ds402::Statusword &statusword) |
Variables | |
| static const uint16_t | ID_CONTROL_WORD = 0x6040 |
| static const uint16_t | ID_STATUS_WORD = 0x6041 |
| std::string icl_hardware::canopen_schunk::ds402::deviceStatusString | ( | const eState | state | ) | [inline] |
Turns a status word into a status string according to the elmo DS-402 implementation guide chapter 6.6.1.
| statusword | Statusword of device |
| std::string icl_hardware::canopen_schunk::ds402::operationModeString | ( | const eModeOfOperation | mode | ) | [inline] |
| eState icl_hardware::canopen_schunk::ds402::stateFromStatusword | ( | const ds402::Statusword & | statusword | ) | [inline] |
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 [static] |