Implementation of a driver for EPOS2 Motor Controller. More...

#include <Epos2.h>

Public Types
Operation Modes - Names

enum	epos_states { FAULT, START, NOT_READY_TO_SWITCH_ON, SWITCH_ON_DISABLED, READY_TO_SWITCH_ON, SWITCH_ON, REFRESH, MEASURE_INIT, OPERATION_ENABLE, QUICK_STOP, QUICK_STOP_ACTIVE_DISABLE, QUICK_STOP_ACTIVE_ENABLE }

enum	epos_opmodes { NO_OPERATION = 99, VELOCITY = -2, POSITION = -1, PROFILE_VELOCITY = 3, PROFILE_POSITION = 1, INTERPOLATED_PROFILE_POSITION = 7, HOMING = 6 }

enum	epos_posmodes { HALT, ABSOLUTE, RELATIVE }

Public Member Functions
	CEpos2 (int8_t nodeId=0x00)
	Constructor. More...

void	close ()
	Disconnects hardware. More...

void	init ()
	Connects hardware. More...

	~CEpos2 ()
	Destructor. More...

State Management
long	getState ()
	function to get current controller's state More...

void	shutdown ()
	function to reach ready_to_switch_on state More...

void	switchOn ()
	function to reach switch_on state More...

void	quickStop ()
	function to reach switch_on state More...

void	enableOperation ()
	function to reach operation_enable state and enables power on motor More...

void	disableOperation ()
	function to reach switch_on and disables power on motor More...

void	disableVoltage ()
	function to reach switch_on_disabled state More...

void	faultReset ()
	function to reach switch_on_disabled state after a FAULT More...

Operation Modes Management
long	getOperationMode ()
	function to know which operation mode is set More...

std::string	getOpModeDescription (long opmode)
	function to show the name of the operation mode More...

void	setOperationMode (long opmode)
	function to set the operation mode More...

void	enableController ()
	function to facititate transitions from the start of the controller to switch it on More...

void	enableMotor (long opmode)
	function to facititate transitions from switched on to operation enabled More...

bool	isTargetReached ()
	function to know if the motor has reached the target position or velocity More...

Operation Mode - velocity
long	getTargetVelocity ()
	function to GET the target velocity This function gets the target velocity of velocity operation mode More...

void	setTargetVelocity (long velocity)
	function to SET the target velocity More...

void	startVelocity ()
	function to move the motor in Velocity mode More...

void	stopVelocity ()
	function to stop the motor in velocity mode More...

Operation Mode - profile_position
long	getTargetProfilePosition ()
	function to GET the target position More...

void	setTargetProfilePosition (long position)
	function to SET the target position More...

void	startProfilePosition (epos_posmodes mode, bool blocking=true, bool wait=true, bool new_point=true)
	function to move the motor to a position in profile position mode More...

Operation Mode - profile_velocity
long	getTargetProfileVelocity ()
	[OPMODE=profile_velocity] function to get the velocity More...

void	setTargetProfileVelocity (long velocity)
	[OPMODE=profile_velocity] function to set the velocity More...

void	startProfileVelocity ()
	[OPMODE=profile_velocity] function to move the motor in a velocity More...

void	stopProfileVelocity ()
	[OPMODE=profile_velocity] function to stop the motor More...

Operation Mode - current
long	getTargetCurrent ()
	[OPMODE=current] function to GET the target current More...

void	setTargetCurrent (long current)
	[OPMODE=current] function to SET the target current More...

void	startCurrent ()
	[OPMODE=current] function to move the motor in current mode More...

void	stopCurrent ()
	[OPMODE=current] function to stop the motor in current mode More...

Operation Mode - home
void	setHome ()
	function to set a Home position with user interaction More...

void	setHomePosition (long home_position_qc)
	function to set a Home position More...

long	getHomePosition ()
	function to get the Home position More...

Control Tuning
Motion Control Configuration
long	getCurrentPGain ()
	function to get P Current Gain More...

void	setCurrentPGain (long gain)
	function to set P Current Gain More...

long	getCurrentIGain ()
	function to get I Current Gain More...

void	setCurrentIGain (long gain)
	function to set I Current Gain More...

long	getVelocityPGain ()
	function to get P Velocity Gain More...

void	setVelocityPGain (long gain)
	function to set P Velocity Gain More...

long	getVelocityIGain ()
	function to get I Velocity Gain More...

void	setVelocityIGain (long gain)
	function to set I Velocity Gain More...

long	getVelocitySetPointFactorPGain ()
	function to GET Speed Regulator Set Point Factor P Velocity Gain More...

void	setVelocitySetPointFactorPGain (long gain)
	function to SET Speed Regulator Set Point Factor P Velocity Gain More...

long	getPositionPGain ()
	function to get P Position Gain More...

void	setPositionPGain (long gain)
	function to set P Position Gain More...

long	getPositionIGain ()
	function to get I Position Gain More...

void	setPositionIGain (long gain)
	function to set I Position Gain More...

long	getPositionDGain ()
	function to get D Position Gain More...

void	setPositionDGain (long gain)
	function to set D Position Gain More...

long	getPositionVFFGain ()
	function to get Velocity Feed Forward Position Gain More...

void	setPositionVFFGain (long gain)
	function to set Velocity Feed Forward Position Gain More...

long	getPositionAFFGain ()
	function to get Acceleration Feed Forward Position Gain More...

void	setPositionAFFGain (long gain)
	function to set Acceleration Feed Forward Position Gain More...

void	getControlParameters (long &cp, long &ci, long &vp, long &vi, long &vspf, long &pp, long &pi, long &pd, long &pv, long &pa)
	function to get all control parameters More...

void	setControlParameters (long cp, long ci, long vp, long vi, long vspf, long pp, long pi, long pd, long pv, long pa)
	function to set all control parameters More...

void	printControlParameters (long cp, long ci, long vp, long vi, long vspf, long pp, long pi, long pd, long pv, long pa)
	function to show all control parameters More...

Profile
For Profile Position and Profile Velocity modes.
long	getProfileVelocity (void)
	function to GET the velocity of the Velocity Profile More...

void	setProfileVelocity (long velocity)
	function to SET the velocity of the Velocity Profile More...

long	getProfileMaxVelocity (void)
	function to GET the Max Velocity allowed in Profile More...

void	setProfileMaxVelocity (long velocity)
	function to SET the Max Velocity allowed in Profile More...

long	getProfileAcceleration (void)
	function to GET the Acceleration in profile More...

void	setProfileAcceleration (long acceleration)
	function to SET the Acceleration in profile More...

long	getProfileDeceleration (void)
	function to GET the Deceleration in profile More...

void	setProfileDeceleration (long deceleration)
	function to SET the Deceleration in profile More...

long	getProfileQuickStopDecel (void)
	function to GET the Quick Stop Deceleration in profile More...

void	setProfileQuickStopDecel (long deceleration)
	function to SET the Quick Stop Deceleration in profile More...

long	getProfileType (void)
	function to GET the type in profile More...

void	setProfileType (long type)
	function to SET the type in profile More...

long	getMaxAcceleration (void)
	function to GET Max Acceleration More...

void	setMaxAcceleration (long max_acceleration)
	function to SET Max Acceleration More...

void	getProfileData (long &vel, long &maxvel, long &acc, long &dec, long &qsdec, long &maxacc, long &type)
	function to GET all data of the velocity profile More...

void	setProfileData (long vel, long maxvel, long acc, long dec, long qsdec, long maxacc, long type)
	function to SET all data of the velocity profile More...

Sensor configuration
long	getEncoderPulseNumber ()
	function to GET the Encoder Pulses More...

void	setEncoderPulseNumber (long pulses)
	function to SET the Encoder Pulses More...

long	getEncoderType ()
	function to GET the Encoder Pulses More...

void	setEncoderType (long type)
	function to SET the Encoder type More...

long	getEncoderPolarity ()
	function to GET the Encoder Pulses More...

void	setEncoderPolarity (long polarity)
	function to SET the Encoder polarity More...

void	getEncoderParameters (long &pulses, long &type, long &polarity)
	function to GET encoder parameters More...

void	setEncoderParameters (long pulses, long type, long polarity)
	function to SET encoder parameters More...

Motor
long	getMotorType ()
	function to GET Motor type More...

void	setMotorType (long type)
	function to SET Motor type More...

long	getMotorContinuousCurrentLimit ()
	function to GET Motor Continous Current Limit More...

void	setMotorContinuousCurrentLimit (long current_mA)
	function to SET Motor Continous Current Limit More...

long	getMotorOutputCurrentLimit ()
	function to GET Motor Output Current Limit More...

void	setMotorOutputCurrentLimit (long current_mA)
	function to SET Motor Output Current Limit More...

long	getMotorPolePairNumber ()
	function to GET Motor Pole Pair Number More...

void	setMotorPolePairNumber (char pole_pairs)
	function to SET Motor Pole Pair Number More...

long	getThermalTimeCtWinding ()
	function to GET Motor Thermal Time Constant Winding More...

void	setThermalTimeCtWinding (long time_ds)
	function to SET Motor Thermal Time Constant Winding More...

void	getMotorParameters (long &type, long &current_c_mA, long &current_out_mA, char &pole_pairs, long &time_ds)
	function to GET encoder parameters More...

void	setMotorParameters (long type, long current_c_mA, long current_out_mA, char pole_pairs, long time_ds)
	function to SET motor parameters More...

Communication configuration
long	getRS232Baudrate ()
	function to GET the RS232 Baudrate More...

void	setRS232Baudrate (long baudrate)
	function to SET the RS232 Baudrate More...

long	getRS232FrameTimeout ()
	function to GET the RS232 Frame Timeout More...

void	setRS232FrameTimeout (long timeout)
	function to SET the RS232 Frame Timeout More...

long	getUSBFrameTimeout ()
	function to GET the USB Frame Timeout More...

void	setUSBFrameTimeout (long timeout)
	function to SET the USB Frame Timeout More...

Position parameters configuration
long	getMaxFollowingError ()
	function to GET the Max Following Error More...

void	setMaxFollowingError (long follerror)
	function to SET the Max Following Error More...

long	getMinPositionLimit ()
	function to GET the Min Position Limit More...

void	setMinPositionLimit (long limit)
	function to SET the Min Position Limit More...

long	getMaxPositionLimit ()
	function to GET the Max Position Limit More...

void	setMaxPositionLimit (long limit)
	function to SET the Max Position Limit More...

void	disablePositionLimits (void)
	function to DISABLE Position Limits More...

long	getPositionWindow ()
	function to get Position Window More...

void	setPositionWindow (long window_qc)
	function to set Position Window More...

long	getPositionWindowTime ()
	function to get Position Window Time More...

void	setPositionWindowTime (long time_ms)
	function to set Position Window Time More...

long	getVelocityWindow ()
	function to get Velocity Window More...

void	setVelocityWindow (long window_rm)
	function to set Velocity Window More...

long	getVelocityWindowTime ()
	function to get Velocity Window Time More...

void	setVelocityWindowTime (long time_ms)
	function to set Velocity Window Time More...

Dimension and notation configuration
long	getPositionNotationIndex ()
	function to get Position Notation Index More...

void	setPositionNotationIndex (long notation)
	function to set Position Notation Index More...

long	getVelocityNotationIndex ()
	function to get Velocity Notation Index More...

void	setVelocityNotationIndex (long notation)
	function to set Velocity Notation Index More...

long	getAccelerationNotationIndex ()
	function to get Acceleration Notation Index More...

void	setAccelerationNotationIndex (long notation)
	function to set Acceleration Notation Index More...

long	getPositionDimensionIndex ()
	function to get Position Dimension Index More...

void	setPositionDimensionIndex (long Dimension)
	function to set Position Dimension Index More...

long	getVelocityDimensionIndex ()
	function to get Velocity Dimension Index More...

void	setVelocityDimensionIndex (long Dimension)
	function to set Velocity Dimension Index More...

long	getAccelerationDimensionIndex ()
	function to get Acceleration Dimension Index More...

void	setAccelerationDimensionIndex (long Dimension)
	function to set Acceleration Dimension Index More...

Private Member Functions
long	getNegativeLong (long number)
	function to make a unsigned long signed More...

void	p (const char *text)
	function to make a unsigned long signed More...

void	p (const std::stringstream &text)

Communication low level
void	openDevice ()
	open EPOS2 device using CFTDI More...

int32_t	readObject (int16_t index, int8_t subindex)
	function to read an object from the EPOS2 More...

int	writeObject (int16_t index, int8_t subindex, int32_t data)
	function to write an object to the EPOS2 More...

void	sendFrame (int16_t *frame)
	function send a frame to EPOS2 More...

void	receiveFrame (uint16_t *ans_frame)
	function receive a frame from EPOS2 More...

int16_t	computeChecksum (int16_t *pDataArray, int16_t numberOfWords)
	function to compute EPOS2 checksum More...

Private Attributes
int8_t	node_id

bool	verbose

Static Private Attributes
static Ftdi::Context	ftdi
	a reference to the FTDI USB device More...

static bool	ftdi_initialized = false

Info
static const std::string	error_names []
	Strings of generic error descriptions. More...

static const int	error_codes []
	error integer codes More...

static const std::string	error_descriptions []
	error descriptions More...

long	readVelocity ()
	function to read motor average velocity More...

long	readVelocitySensorActual ()
	function to read velocity sensor actual More...

long	readVelocityDemand ()
	function to read velocity demand More...

long	readVelocityActual ()
	function to read velocity sensor actual More...

long	readCurrent ()
	function to read motor current More...

long	readCurrentAveraged ()
	function to read motor averaged current More...

long	readCurrentDemanded ()
	function to read current demanded More...

int32_t	readPosition ()
	function to read motor position More...

long	readStatusWord ()
	function to read EPOS2 StatusWord More...

long	readEncoderCounter ()
	function to read the Encoder Counter More...

long	readEncoderCounterAtIndexPulse ()
	function to read the Encoder Counter at index pulse More...

long	readHallsensorPattern ()
	function to read the Hall Sensor Pattern More...

long	readFollowingError ()
	function to read the Following Error More...

void	getMovementInfo ()
	prints information about movement More...

char	readError ()
	function to read an Error information More...

void	readErrorHistory (long *error[5])
	function to read last 5 errors More...

std::string	searchErrorDescription (long error_code)
	given an error code it returns its description More...

long	readVersionSoftware ()
	function to read the software version More...

long	readVersionHardware ()
	function to read the hardware version More...

Utilities
long	getAnalogOutput1 ()
	function to get the value in the Analog Output1 More...

void	setAnalogOutput1 (long voltage_mV)
	function to set analog output 1 More...

void	saveParameters ()
	function to save all parameters in EEPROM More...

void	restoreDefaultParameters ()
	function to restore default parameters of EPOS2. More...

bool	getVerbose ()

void	setVerbose (bool verbose)

long	getPositionMarker (int buffer=0)
	gets the position marked by the sensor More...

void	setPositionMarker (char polarity=0, char edge_type=0, char mode=0, char digitalIN=2)
	Sets the configuration of a marker position. More...

void	waitPositionMarker ()
	wait for marker position reached More...

void	setHoming (int home_method=11, int speed_pos=100, int speed_zero=100, int acc=1000, int digitalIN=2)
	Sets the configuration of a homing operation. More...

void	doHoming (bool blocking=false)
	starts a homing operation More...

void	stopHoming ()
	stops a homing operation More...

int	getDigInState (int digitalIN=2)
	Gives the state of a certain digital Input. More...

int	getDigInStateMask ()
	Gives Digital Inputs State Mask. More...

int	getDigInFuncMask ()
	Gives Digital Inputs Functionalities Mask. More...

int	getDigInPolarity ()
	Gives Digital Inputs Polarity Mask. More...

int	getDigInExecutionMask ()
	Gives Digital Inputs Execution Mask. More...

static void *	threadTargetReached (void *param)
	Thread listens to target reached. More...

Detailed Description

Implementation of a driver for EPOS2 Motor Controller.

Author: Martí Morta (mmorta @ iri.upc.edu)

Version: 1.0

Date: august 2009

This class is a low level driver to manage Maxon Motor EPOS2 Controller. It is tested in EPOS2 50/5 using firmware Epos_2110h_6322h_0000h_0000h.bin. All functions objects in controller are in the document EPOS2 Firmware Specification of December 2008 Edition/ document number 821384-02.

It implements all functions to use one unique controller and adds other useful features to simplify some tasks.

Warning: Units are in default (position:qc, velocity: [rev/min], acceleration: [rev/min/s]) if you change dimension or notation index you will have to take them into account.; This class doesn't implements operation modes that need other controllers or * external signals. Neither CAN, SDO, PDO functions of the controller.

Todo:

Smarter ReadObject (16-32 bits)
Current mode functions
Sensor functions
Motor functions
Utilities functions: window/window times, notation/dimension index, analog Output

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, test_like_h3d.cpp, test_marker.cpp, and test_positions.cpp.

Definition at line 60 of file Epos2.h.

Member Enumeration Documentation

enum CEpos2::epos_opmodes

EPOS2 firmware (9) operation modes.

Note: "no_operation" is an arbitrary number

Enumerator
NO_OPERATION
VELOCITY
POSITION
PROFILE_VELOCITY
PROFILE_POSITION
INTERPOLATED_PROFILE_POSITION
HOMING

Definition at line 334 of file Epos2.h.

enum CEpos2::epos_posmodes

EPOS2 firmware profile position modes

Enumerator
HALT
ABSOLUTE
RELATIVE

Definition at line 341 of file Epos2.h.

enum CEpos2::epos_states

EPOS2 firmware states

Enumerator
FAULT
START
NOT_READY_TO_SWITCH_ON
SWITCH_ON_DISABLED
READY_TO_SWITCH_ON
SWITCH_ON
REFRESH
MEASURE_INIT
OPERATION_ENABLE
QUICK_STOP
QUICK_STOP_ACTIVE_DISABLE
QUICK_STOP_ACTIVE_ENABLE

Definition at line 325 of file Epos2.h.

Constructor & Destructor Documentation

CEpos2::CEpos2 ( int8_t nodeId = 0x00 )

Constructor.

Definition at line 33 of file Epos2.cpp.

CEpos2::~CEpos2 ( )

Destructor.

Definition at line 39 of file Epos2.cpp.

Member Function Documentation

void CEpos2::close ( )

Disconnects hardware.

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, test_like_h3d.cpp, test_marker.cpp, and test_positions.cpp.

Definition at line 58 of file Epos2.cpp.

int16_t CEpos2::computeChecksum	(	int16_t *	pDataArray,
		int16_t	numberOfWords
	)

private

function to compute EPOS2 checksum

This function is implemented in the EPOS2 Communication Guide.

Parameters

pDataArray
numberOfWords

Returns: checksum (16 bits)

Definition at line 366 of file Epos2.cpp.

void CEpos2::disableOperation ( )

function to reach switch_on and disables power on motor

Transition: 5 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Examples:: configtest.cpp.

Definition at line 549 of file Epos2.cpp.

void CEpos2::disablePositionLimits ( void )

function to DISABLE Position Limits

This function disables Position Limits it writes min= -2147483648 max= 2147483647

Definition at line 1402 of file Epos2.cpp.

void CEpos2::disableVoltage ( )

function to reach switch_on_disabled state

Transition: 7,9,10,12 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Definition at line 533 of file Epos2.cpp.

void CEpos2::doHoming ( bool blocking = false )

starts a homing operation

Options had to be set with setHoming

Examples:: test_homing.cpp.

Definition at line 1577 of file Epos2.cpp.

void CEpos2::enableController ( )

function to facititate transitions from the start of the controller to switch it on

This function does all transitions from start to switched on to be able to work with the controller.

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, test_like_h3d.cpp, test_marker.cpp, and test_positions.cpp.

Definition at line 632 of file Epos2.cpp.

void CEpos2::enableMotor ( long opmode )

function to facititate transitions from switched on to operation enabled

This function does all transitions from switched on to operation enabled work with the motor.

        \param opmode desired operation mode (velocity, profile_position,

profile_velocity,current,homing)

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, test_like_h3d.cpp, and test_positions.cpp.

Definition at line 696 of file Epos2.cpp.

void CEpos2::enableOperation ( )

function to reach operation_enable state and enables power on motor

Transition: 4,16 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Examples:: configtest.cpp.

Definition at line 557 of file Epos2.cpp.

void CEpos2::faultReset ( )

function to reach switch_on_disabled state after a FAULT

This function does the transition to reach switch_on_disabled state after a FAULT. It is necessary to clear Can passive mode error at the start of EPOS controller

Transition: 15 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Definition at line 565 of file Epos2.cpp.

long CEpos2::getAccelerationDimensionIndex ( )

function to get Acceleration Dimension Index

This function gets Acceleration Dimension Index

Returns: Acceleration Dimension Index

Definition at line 1447 of file Epos2.cpp.

long CEpos2::getAccelerationNotationIndex ( )

function to get Acceleration Notation Index

This function gets Acceleration Notation Index

Returns: Acceleration Notation Index

Definition at line 1435 of file Epos2.cpp.

long CEpos2::getAnalogOutput1 ( )

function to get the value in the Analog Output1

This function gets the value in the Analog Output1, to know which Voltage is giving this output [mV]

Returns: actual output

Definition at line 1506 of file Epos2.cpp.

void CEpos2::getControlParameters	(	long &	cp,
		long &	ci,
		long &	vp,
		long &	vi,
		long &	vspf,
		long &	pp,
		long &	pi,
		long &	pd,
		long &	pv,
		long &	pa
	)

function to get all control parameters

gets all control parameters and save them into user variables

Return values

cp	Current Proportional
ci	Current Integral
vp	Velocity Proportional
vi	Velocity Integral
vspf	Velocity Set Point Factor P Gain
pp	Postition Proportional
pi	Position Integral
pd	Position Derivative
pv	Position Velocity Feed Forward Factor
pa	Position Acceleration Feed Forward Factor

Examples:: configtest.cpp.

Definition at line 977 of file Epos2.cpp.

long CEpos2::getCurrentIGain ( )

function to get I Current Gain

This function gets the actual I Current Gain

Returns: gain (must be between 0 and 32767)

Definition at line 882 of file Epos2.cpp.

long CEpos2::getCurrentPGain ( )

function to get P Current Gain

This function gets the actual P Current Gain

Returns: gain

Definition at line 872 of file Epos2.cpp.

int CEpos2::getDigInExecutionMask ( )

Gives Digital Inputs Execution Mask.

Returns: execution mask [FW table 111]

Examples:: test_homing.cpp, and test_marker.cpp.

Definition at line 1618 of file Epos2.cpp.

int CEpos2::getDigInFuncMask ( )

Gives Digital Inputs Functionalities Mask.

Returns: functionalities mask [FW table 99]

Examples:: test_homing.cpp, and test_marker.cpp.

Definition at line 1608 of file Epos2.cpp.

int CEpos2::getDigInPolarity ( )

Gives Digital Inputs Polarity Mask.

Returns: functionalities polarity mask [FW table 100]

Examples:: test_homing.cpp, and test_marker.cpp.

Definition at line 1613 of file Epos2.cpp.

int CEpos2::getDigInState ( int digitalIN = 2 )

Gives the state of a certain digital Input.

Returns: 0: inactive, 1: active(depending on polarity=0)

Examples:: test_homing.cpp, and test_marker.cpp.

Definition at line 1598 of file Epos2.cpp.

int CEpos2::getDigInStateMask ( )

Gives Digital Inputs State Mask.

Returns: state mask [FW table 98]

Examples:: test_homing.cpp, and test_marker.cpp.

Definition at line 1603 of file Epos2.cpp.

void CEpos2::getEncoderParameters	(	long &	pulses,
		long &	type,
		long &	polarity
	)

function to GET encoder parameters

Return values

&pulses
&type
&polarity

Definition at line 1339 of file Epos2.cpp.

long CEpos2::getEncoderPolarity ( )

function to GET the Encoder Pulses

This function gets the Encoder Pulses

Returns: Encoder Pulses

Definition at line 1333 of file Epos2.cpp.

long CEpos2::getEncoderPulseNumber ( )

function to GET the Encoder Pulses

This function gets the Encoder Pulses

Returns: Encoder Pulses

Definition at line 1317 of file Epos2.cpp.

long CEpos2::getEncoderType ( )

function to GET the Encoder Pulses

This function gets the Encoder Pulses

Returns: Encoder Pulses

Definition at line 1327 of file Epos2.cpp.

long CEpos2::getHomePosition ( )

function to get the Home position

This function gets a home position.

Returns: home position

Definition at line 1631 of file Epos2.cpp.

long CEpos2::getMaxAcceleration ( void )

function to GET Max Acceleration

This function gets Max Acceleration [rev/min/s]

Returns: acceleration

Definition at line 1089 of file Epos2.cpp.

long CEpos2::getMaxFollowingError ( )

function to GET the Max Following Error

This function gets the Max following error [qc]

Returns: Max Following Error

Definition at line 1371 of file Epos2.cpp.

long CEpos2::getMaxPositionLimit ( )

function to GET the Max Position Limit

This function gets the Max Position Limit [qc]

Returns: Max Position Limit

Definition at line 1392 of file Epos2.cpp.

long CEpos2::getMinPositionLimit ( )

function to GET the Min Position Limit

This function gets the Min Position Limit [qc]

Returns: Min Position Limit

Definition at line 1381 of file Epos2.cpp.

long CEpos2::getMotorContinuousCurrentLimit ( )

function to GET Motor Continous Current Limit

This function gets Motor Continous Current Limit

Returns: Motor Continous Current Limit

Definition at line 1351 of file Epos2.cpp.

long CEpos2::getMotorOutputCurrentLimit ( )

function to GET Motor Output Current Limit

This function gets Motor Output Current Limit

Returns: Motor Output Current Limit

Definition at line 1355 of file Epos2.cpp.

void CEpos2::getMotorParameters	(	long &	type,
		long &	current_c_mA,
		long &	current_out_mA,
		char &	pole_pairs,
		long &	time_ds
	)

function to GET encoder parameters

Return values

&type
&current_c_mA
&current_out_mA
&pole_pairs
&time_ds

long CEpos2::getMotorPolePairNumber ( )

function to GET Motor Pole Pair Number

This function gets Motor Pole Pair Number

Returns: Motor Pole Pair Number

Definition at line 1359 of file Epos2.cpp.

long CEpos2::getMotorType ( )

function to GET Motor type

This function gets Motor type

Returns: Motor type

Definition at line 1347 of file Epos2.cpp.

void CEpos2::getMovementInfo ( )

prints information about movement

Motor position, velocity, averaged velocity, demanded velocity, current, averaged current, demanded current.

Examples:: configtest.cpp.

Definition at line 1197 of file Epos2.cpp.

long CEpos2::getNegativeLong ( long number )

private

function to make a unsigned long signed

This function converts an unsigned long to a signed value

Parameters

number unsigned long number needed to convert

Returns: signed number

Definition at line 1494 of file Epos2.cpp.

long CEpos2::getOperationMode ( )

function to know which operation mode is set

This function gets the actual operation mode and returns its value as an integrer

Returns: operation mode

Todo:: veure si això fa falta

Definition at line 576 of file Epos2.cpp.

std::string CEpos2::getOpModeDescription ( long opmode )

function to show the name of the operation mode

Parameters

opmode integrer returned by getOperationMode

Definition at line 590 of file Epos2.cpp.

long CEpos2::getPositionAFFGain ( )

function to get Acceleration Feed Forward Position Gain

This function gets the actual Acceleration Feed Forward Position Gain

Returns: gain

Definition at line 967 of file Epos2.cpp.

long CEpos2::getPositionDGain ( )

function to get D Position Gain

This function gets the actual D Position Gain

Returns: gain

Definition at line 946 of file Epos2.cpp.

long CEpos2::getPositionDimensionIndex ( )

function to get Position Dimension Index

This function gets Position Dimension Index

Returns: Position Dimension Index

Definition at line 1439 of file Epos2.cpp.

long CEpos2::getPositionIGain ( )

function to get I Position Gain

This function gets the actual I Position Gain

Returns: gain

Definition at line 936 of file Epos2.cpp.

long CEpos2::getPositionMarker ( int buffer = 0 )

gets the position marked by the sensor

Parameters

buffer 0: captured position, 1: history 1, 2: history 2

Examples:: test_marker.cpp, and test_positions.cpp.

Definition at line 1512 of file Epos2.cpp.

long CEpos2::getPositionNotationIndex ( )

function to get Position Notation Index

This function gets Position Notation Index

Returns: Position Notation Index

Definition at line 1427 of file Epos2.cpp.

long CEpos2::getPositionPGain ( )

function to get P Position Gain

This function gets the actual P Position Gain

Returns: gain

Definition at line 926 of file Epos2.cpp.

long CEpos2::getPositionVFFGain ( )

function to get Velocity Feed Forward Position Gain

This function gets the actual Velocity Feed Forward Position Gain

Returns: gain

Definition at line 957 of file Epos2.cpp.

long CEpos2::getPositionWindow ( )

function to get Position Window

This function gets Position Window

Returns: actual output

Definition at line 1411 of file Epos2.cpp.

long CEpos2::getPositionWindowTime ( )

function to get Position Window Time

This function gets Position Window Time

Returns: actual output

Definition at line 1415 of file Epos2.cpp.

long CEpos2::getProfileAcceleration ( void )

function to GET the Acceleration in profile

This function gets the Acceleration in profile [rev/min/s]

Returns: acceleration

Definition at line 1049 of file Epos2.cpp.

void CEpos2::getProfileData	(	long &	vel,
		long &	maxvel,
		long &	acc,
		long &	dec,
		long &	qsdec,
		long &	maxacc,
		long &	type
	)

function to GET all data of the velocity profile

This function gets all data and stores it in the output parameters defined.

Return values

&vel	Profile Velocity
&maxvel	Profile Max Velocity
&acc	Profile Acceleration
&dec	Profile Deceleration
&qsdec	Profile Quick Stop Deceleration
&maxacc	Profile Max Acceleration
&type	Profile Type

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 1099 of file Epos2.cpp.

long CEpos2::getProfileDeceleration ( void )

function to GET the Deceleration in profile

This function gets the Deceleration in profile [rev/min/s]

Returns: Deceleration

Definition at line 1059 of file Epos2.cpp.

long CEpos2::getProfileMaxVelocity ( void )

function to GET the Max Velocity allowed in Profile

This function gets the Max Velocity allowed in Profile [rev/min]

Returns: Max Velocity

Definition at line 1039 of file Epos2.cpp.

long CEpos2::getProfileQuickStopDecel ( void )

function to GET the Quick Stop Deceleration in profile

This function gets the Quick Stop Deceleration in profile [rev/min/s]

Returns: deceleration

Definition at line 1069 of file Epos2.cpp.

long CEpos2::getProfileType ( void )

function to GET the type in profile

This function gets the type in profile trapezoidal if 0, sinusoidal otherwise

Returns: Max Position Limit

Definition at line 1079 of file Epos2.cpp.

long CEpos2::getProfileVelocity ( void )

function to GET the velocity of the Velocity Profile

This function gets the velocity of the velocity profile used in Profile Position and Profile Velocity [rev/min]

Returns: Profile Velocity

Definition at line 1029 of file Epos2.cpp.

long CEpos2::getRS232Baudrate ( )

function to GET the RS232 Baudrate

This function gets the RS232 Baudrate of the controller

Returns: RS232 Baudrate

Definition at line 1464 of file Epos2.cpp.

long CEpos2::getRS232FrameTimeout ( )

function to GET the RS232 Frame Timeout

This function gets the RS232 Frame Timeout of the controller

Returns: RS232 Frame Timeout [ms]

Definition at line 1474 of file Epos2.cpp.

long CEpos2::getState ( )

function to get current controller's state

EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Returns: arbitrary state number of STATES

Definition at line 397 of file Epos2.cpp.

long CEpos2::getTargetCurrent ( )

[OPMODE=current] function to GET the target current

Todo:: CURRENT MODE FUNCTIONS

This function gets the target current of current operation mode

Returns: Target current

Definition at line 858 of file Epos2.cpp.

long CEpos2::getTargetProfilePosition ( )

function to GET the target position

This function gets the target position of profile position operation mode

Returns: Target position

Examples:: configtest.cpp.

Definition at line 817 of file Epos2.cpp.

long CEpos2::getTargetProfileVelocity ( )

[OPMODE=profile_velocity] function to get the velocity

Precondition: Operation Mode = profile_velocity

Returns: Target Velocity of the profile

Examples:: configtest.cpp.

Definition at line 778 of file Epos2.cpp.

long CEpos2::getTargetVelocity ( )

function to GET the target velocity This function gets the target velocity of velocity operation mode

Returns: Target Velocity

Examples:: configtest.cpp.

Definition at line 742 of file Epos2.cpp.

long CEpos2::getThermalTimeCtWinding ( )

function to GET Motor Thermal Time Constant Winding

This function gets Motor Thermal Time Constant Winding

Returns: Motor Thermal Time Constant Winding

Definition at line 1363 of file Epos2.cpp.

long CEpos2::getUSBFrameTimeout ( )

function to GET the USB Frame Timeout

This function gets the USB Frame Timeout of the controller

Returns: USB Frame Timeout [ms]

Definition at line 1484 of file Epos2.cpp.

long CEpos2::getVelocityDimensionIndex ( )

function to get Velocity Dimension Index

This function gets Velocity Dimension Index

Returns: Velocity Dimension Index

Definition at line 1443 of file Epos2.cpp.

long CEpos2::getVelocityIGain ( )

function to get I Velocity Gain

This function gets the actual I Velocity Gain

Returns: gain

Definition at line 904 of file Epos2.cpp.

long CEpos2::getVelocityNotationIndex ( )

function to get Velocity Notation Index

This function gets Velocity Notation Index

Returns: Velocity Notation Index

Definition at line 1431 of file Epos2.cpp.

long CEpos2::getVelocityPGain ( )

function to get P Velocity Gain

This function gets the actual P Velocity Gain

Returns: gain

Definition at line 894 of file Epos2.cpp.

long CEpos2::getVelocitySetPointFactorPGain ( )

function to GET Speed Regulator Set Point Factor P Velocity Gain

This function gets the actual Speed Regulator Set Point Factor P Velocity Gain

Returns: gain

Definition at line 914 of file Epos2.cpp.

long CEpos2::getVelocityWindow ( )

function to get Velocity Window

This function gets Velocity Window

Returns: Velocity Window

Definition at line 1419 of file Epos2.cpp.

long CEpos2::getVelocityWindowTime ( )

function to get Velocity Window Time

This function gets Velocity Window Time

Returns: actual output

Definition at line 1423 of file Epos2.cpp.

bool CEpos2::getVerbose ( )

Definition at line 82 of file Epos2.cpp.

void CEpos2::init ( )

Connects hardware.

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, test_like_h3d.cpp, test_marker.cpp, and test_positions.cpp.

Definition at line 49 of file Epos2.cpp.

bool CEpos2::isTargetReached ( )

function to know if the motor has reached the target position or velocity

Precondition: Operation Mode = profile_position or profile_velocity

Returns: A boolean, target reached

Examples:: configtest.cpp.

Definition at line 720 of file Epos2.cpp.

void CEpos2::openDevice ( )

private

open EPOS2 device using CFTDI

It finds and configures the FTDI communication.

Definition at line 105 of file Epos2.cpp.

void CEpos2::p ( const char * text )

private

function to make a unsigned long signed

This function converts an unsigned long to a signed value

Parameters

number unsigned long number needed to convert

Returns: signed number

Definition at line 74 of file Epos2.cpp.

void CEpos2::p ( const std::stringstream & text )

private

Definition at line 66 of file Epos2.cpp.

void CEpos2::printControlParameters	(	long	cp,
		long	ci,
		long	vp,
		long	vi,
		long	vspf,
		long	pp,
		long	pi,
		long	pd,
		long	pv,
		long	pa
	)

function to show all control parameters

Prints all control parameters got before with getControlParameters in cout

Parameters

cp	Current Proportional
ci	Current Integral
vp	Velocity Proportional
vi	Velocity Integral
vspf	Velocity Set Point Factor P Gain
pp	Postition Proportional
pi	Position Integral
pd	Position Derivative
pv	Position Velocity Feed Forward Factor
pa	Position Acceleration Feed Forward Factor

Definition at line 1015 of file Epos2.cpp.

void CEpos2::quickStop ( )

function to reach switch_on state

Transitions: 7,10,11 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Definition at line 541 of file Epos2.cpp.

long CEpos2::readCurrent ( )

function to read motor current

This function reads the actual current of the motor [mA]

Returns: actual current

Examples:: configtest.cpp.

Definition at line 1150 of file Epos2.cpp.

long CEpos2::readCurrentAveraged ( )

function to read motor averaged current

The current actual value averaged [mA] represents the current actual value filtered by 1st order digital lowpass filter with a cut-off frequency of 50 Hz.This function reads the current of the motor averaged [mA]

Returns: current averaged

Examples:: configtest.cpp.

Definition at line 1156 of file Epos2.cpp.

long CEpos2::readCurrentDemanded ( )

function to read current demanded

The «Current Demand Value» is the set value [mA] for the current controller

[mA]

Returns: demanded current

Examples:: configtest.cpp.

Definition at line 1162 of file Epos2.cpp.

long CEpos2::readEncoderCounter ( )

function to read the Encoder Counter

This function reads the internal counter register of the encoder multiplied by Polarity [qc]

Returns: Encoder Counter

Examples:: configtest.cpp.

Definition at line 1177 of file Epos2.cpp.

long CEpos2::readEncoderCounterAtIndexPulse ( )

function to read the Encoder Counter at index pulse

This function reads the encoder counter reached at last detected encoder index pulse. [qc]

Returns: Encoder Counter at index pulse

Examples:: configtest.cpp.

Definition at line 1182 of file Epos2.cpp.

char CEpos2::readError ( )

function to read an Error information

This function reads the information of an error

Returns: StatusWord

Examples:: configtest.cpp.

Definition at line 1226 of file Epos2.cpp.

void CEpos2::readErrorHistory ( long * error[5] )

function to read last 5 errors

This function reads the information of last five errors in EPOS

Returns: Errors

Examples:: configtest.cpp.

Definition at line 1258 of file Epos2.cpp.

long CEpos2::readFollowingError ( )

function to read the Following Error

This function reads the actual Following Error [qc]

Returns: Following Error

Examples:: configtest.cpp.

Definition at line 1192 of file Epos2.cpp.

long CEpos2::readHallsensorPattern ( )

function to read the Hall Sensor Pattern

This function reads the actual state of the three hall sensors as a pattern. bit 0: hallsensor 1 bit 1: hallsensor 2 bit 2: hallsensor 3

Returns: Hallsensor Pattern

Examples:: configtest.cpp.

Definition at line 1187 of file Epos2.cpp.

int32_t CEpos2::readObject	(	int16_t	index,
		int8_t	subindex
	)

private

function to read an object from the EPOS2

This function sends a read object request using CFTDI.

Parameters

index	the hexadecimal index of the object you want to read
subindex	hexadecimal value of the object (usually 0x00)

Returns: the value in the object as a long

Definition at line 123 of file Epos2.cpp.

int32_t CEpos2::readPosition ( )

function to read motor position

This function reads the actual current of the motor. [qc] To get load position just do: load_pos[º] = motor_pos[qc] / ( 4 * encoder_pulses [lines/rev] * reduction )

Returns: actual current

Examples:: configtest.cpp, test_epos2.cpp, and test_like_h3d.cpp.

Definition at line 1167 of file Epos2.cpp.

long CEpos2::readStatusWord ( )

function to read EPOS2 StatusWord

This function reads the StatusWord. It doesn't give more information than just the returned StatusWord

Returns: StatusWord

Examples:: configtest.cpp.

Definition at line 1172 of file Epos2.cpp.

long CEpos2::readVelocity ( )

function to read motor average velocity

This function reads the actual velocity of the motor [rev/min] -2147483648..2147483647

Returns: averaged velocity

Examples:: configtest.cpp.

Definition at line 1130 of file Epos2.cpp.

long CEpos2::readVelocityActual ( )

function to read velocity sensor actual

Description The velocity actual value is coupled to the velocity used as input to velocity controller [Velocity units]. Remarks The resolution of the short time velocity measurement (Velocity actual value, Velocity sensor actual value) is dependent on the encoder pulse number (Sensor Configuration) and the velocity measurement method (Miscellaneous Configuration bit 3). To improve the short time velocity measurement resolution set the Miscellaneous Configuration bit 3 to 1 or use an encoder with higher resolution. For example the short time velocity resolution with a 500-pulse encoder and Miscellaneous Configuration Bit 3 = 0 is: 1 quadcount / ms = 60’000 / (4 * 500) = 30 rpm.

Returns: actual velocity

Examples:: configtest.cpp.

Definition at line 1145 of file Epos2.cpp.

long CEpos2::readVelocityDemand ( )

function to read velocity demand

Velocity demand value is generated by profile generator and is the set value for the velocity controller

Returns: demanded velocity

Examples:: configtest.cpp.

Definition at line 1140 of file Epos2.cpp.

long CEpos2::readVelocitySensorActual ( )

function to read velocity sensor actual

Description The velocity sensor actual value is given in quadcounts per second [inc/s]. Remarks The resolution of the short time velocity measurement (Velocity actual value, Velocity sensor actual value) is dependent on the encoder pulse number (Sensor Configuration) and the velocity measurement method (Miscellaneous Configuration bit 3). To improve the short time velocity measurement resolution set the Miscellaneous Configuration bit 3 to 1 or use an encoder with higher resolution. For example the short time velocity resolution with a 500-pulse encoder and Miscellaneous Configuration Bit 3 = 0 is: 1 quadcount / ms = 60’000 / (4 * 500) = 30 rpm.

[qc/s]

Returns: sensor velocity

Examples:: configtest.cpp.

Definition at line 1135 of file Epos2.cpp.

long CEpos2::readVersionHardware ( )

function to read the hardware version

This function reads the hardware version.

Returns: Hardware Version

Examples:: configtest.cpp.

Definition at line 1308 of file Epos2.cpp.

long CEpos2::readVersionSoftware ( )

function to read the software version

This function reads the software version, it can be useful to know if EPOS2 has the last firmware.

Returns: Software Version

Examples:: configtest.cpp.

Definition at line 1303 of file Epos2.cpp.

void CEpos2::receiveFrame ( uint16_t * ans_frame )

private

function receive a frame from EPOS2

It uses CFTDI events in order to get complete frames of data from EPOS2. While frame is being received it calculates its length using the fourth piece of data and checks if data pieces have been stuffed for character 0x90, If there are, frame length is changed. Also It converts the 8 bit received frame to 16 bit frame.

Parameters

frame data frame which will be saved from EPOS2

Definition at line 229 of file Epos2.cpp.

void CEpos2::restoreDefaultParameters ( )

function to restore default parameters of EPOS2.

This function restores all default parameters of EPOS2.

Warning: It removes its actual values! (ALL)

Examples:: configtest.cpp.

Definition at line 1458 of file Epos2.cpp.

void CEpos2::saveParameters ( )

function to save all parameters in EEPROM

This function save all actual parameters to EEPROM of EPOS2. Its necessary if you do changes you want to save such as new controller parameters or profiles.

Examples:: configtest.cpp.

Definition at line 1452 of file Epos2.cpp.

std::string CEpos2::searchErrorDescription ( long error_code )

given an error code it returns its description

Returns: Errors

Definition at line 1275 of file Epos2.cpp.

void CEpos2::sendFrame ( int16_t * frame )

private

function send a frame to EPOS2

It transforms the 16 bit frame to 8 bit and does data stuffing for character 0x90.

Parameters

frame data frame which will be sent to EPOS2

Definition at line 186 of file Epos2.cpp.

void CEpos2::setAccelerationDimensionIndex ( long Dimension )

function to set Acceleration Dimension Index

This function sets Acceleration Dimension Index

Parameters

Dimension Dimension and Notation Factor Tables

Definition at line 1449 of file Epos2.cpp.

void CEpos2::setAccelerationNotationIndex ( long notation )

function to set Acceleration Notation Index

This function sets Acceleration Notation Index

Parameters

notation Dimension and Notation Factor Tables

Definition at line 1437 of file Epos2.cpp.

void CEpos2::setAnalogOutput1 ( long voltage_mV )

function to set analog output 1

This function sets the analog output1 voltage. ONLY in 50/5 Controller!! Resolution 2.40 mV, Bandwith 20 kHz [mV] 0..10000

Parameters

voltage_mV

Definition at line 1508 of file Epos2.cpp.

void CEpos2::setControlParameters	(	long	cp,
		long	ci,
		long	vp,
		long	vi,
		long	vspf,
		long	pp,
		long	pi,
		long	pd,
		long	pv,
		long	pa
	)

function to set all control parameters

Sets all control parameters

Parameters

cp	Current Proportional
ci	Current Integral
vp	Velocity Proportional
vi	Velocity Integral
vspf	Velocity Set Point Factor P Gain
pp	Postition Proportional
pi	Position Integral
pd	Position Derivative
pv	Position Velocity Feed Forward Factor
pa	Position Acceleration Feed Forward Factor

Examples:: configtest.cpp.

Definition at line 996 of file Epos2.cpp.

void CEpos2::setCurrentIGain ( long gain )

function to set I Current Gain

This function sets Current Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 887 of file Epos2.cpp.

void CEpos2::setCurrentPGain ( long gain )

function to set P Current Gain

This function sets Current Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 877 of file Epos2.cpp.

void CEpos2::setEncoderParameters	(	long	pulses,
		long	type,
		long	polarity
	)

function to SET encoder parameters

Parameters

pulses
type
polarity

Definition at line 1342 of file Epos2.cpp.

void CEpos2::setEncoderPolarity ( long polarity )

function to SET the Encoder polarity

This function sets the Encoder polarity bit 0: Incremental Encoder (0:CCW, 1:CW (encoder mounted on motor shaft) bit 1: Hall s (0:normal, 1:inverted) bit 2: SSI Encoder (0: CCW, 1:inverted)

DISABLE STATE only

Parameters

polarity

Definition at line 1336 of file Epos2.cpp.

void CEpos2::setEncoderPulseNumber ( long pulses )

function to SET the Encoder Pulses

This function sets the Encoder pulses 16...2500000 DISABLE STATE only

Parameters

pulses

Definition at line 1322 of file Epos2.cpp.

void CEpos2::setEncoderType ( long type )

function to SET the Encoder type

This function sets the Encoder type 0=unknown,1=incremental+index,2=incremental,3=Hall DISABLE STATE only

Parameters

type

Definition at line 1330 of file Epos2.cpp.

void CEpos2::setHome ( )

function to set a Home position with user interaction

This function sets a new home position with user interaction. User has to follow instructions given when the function is called. It disables power, then user has to rotate the load and then the function reads the actual position and set there the new home

   disable -> user rotate -> readPosition -> setHomePosition

Examples:: configtest.cpp.

Definition at line 1636 of file Epos2.cpp.

void CEpos2::setHomePosition ( long home_position_qc )

function to set a Home position

This function sets a home position.

Parameters

home_position_qc position to set home

Definition at line 1627 of file Epos2.cpp.

void CEpos2::setHoming	(	int	home_method = `11`,
		int	speed_pos = `100`,
		int	speed_zero = `100`,
		int	acc = `1000`,
		int	digitalIN = `2`
	)

Sets the configuration of a homing operation.

It can use a sensor to reach the home, this sensor can be set as positive (18,2), negative(17,1) or home(27,23,11,7) switch. If the system doesn't have a switch, setting actual position as home (35) and Index methods (34,33) can be used.

Parameters

home_method	# Description 35 Set Actual Position as home position 34 Index Negative / Positive Speed 33 Index Negative / Positive Speed 27 Home Switch Negative Speed 23 Home Switch Positive Speed 18 Positive Limit Switch 17 Negative Limit Switch 11 Home Switch Negative Speed & Index 7 Home Switch Positive Speed & Index 2 Positive Limit Switch & Index 1 Negative Limit Switch & Index 0 No homing operation required -1 Current Threshold Positive Speed & Index -2 Current Threshold Negative Speed & Index -3 Current Threshold Positive Speed -4 Current Threshold Negative Speed
speed_pos	Speed for first positioning
speed_zero	Speed for find home near 0
acc	Acceleration
digitalIN	The pin which has the home switch property

Examples:: test_homing.cpp.

Definition at line 1562 of file Epos2.cpp.

void CEpos2::setMaxAcceleration ( long max_acceleration )

function to SET Max Acceleration

This function sets Max Acceleration [rev/min/s]

Parameters

max_acceleration

Definition at line 1094 of file Epos2.cpp.

void CEpos2::setMaxFollowingError ( long follerror )

function to SET the Max Following Error

This function sets the Max following error [qc] 0..4294967295

Parameters

follerror

Definition at line 1376 of file Epos2.cpp.

void CEpos2::setMaxPositionLimit ( long limit )

function to SET the Max Position Limit

This function sets the Max Position Limit [qc] -2147483648..2147483647

Parameters

limit

Definition at line 1397 of file Epos2.cpp.

void CEpos2::setMinPositionLimit ( long limit )

function to SET the Min Position Limit

This function sets the Min Position Limit [qc] -2147483648..2147483647

Parameters

limit

Definition at line 1386 of file Epos2.cpp.

void CEpos2::setMotorContinuousCurrentLimit ( long current_mA )

function to SET Motor Continous Current Limit

This function sets Motor Continous Current Limit [mA]

Parameters

current_mA [mA]

Definition at line 1353 of file Epos2.cpp.

void CEpos2::setMotorOutputCurrentLimit ( long current_mA )

function to SET Motor Output Current Limit

This function sets Motor Output Current Limit Usually 2·Continous current limit [mA]

Parameters

current_mA [mA]

Definition at line 1357 of file Epos2.cpp.

void CEpos2::setMotorParameters	(	long	type,
		long	current_c_mA,
		long	current_out_mA,
		char	pole_pairs,
		long	time_ds
	)

function to SET motor parameters

Parameters

type
current_c_mA
current_out_mA
pole_pairs
time_ds

void CEpos2::setMotorPolePairNumber ( char pole_pairs )

function to SET Motor Pole Pair Number

This function sets Motor Pole Pair Number number of poles / 2

Disable State

Parameters

pole_pairs

Definition at line 1361 of file Epos2.cpp.

void CEpos2::setMotorType ( long type )

function to SET Motor type

This function sets Motor type 1: brushed DC motor 10: EC motor sinus commutated 11: EC motor block commutated

DISABLE STATE only

Parameters

type

Definition at line 1349 of file Epos2.cpp.

void CEpos2::setOperationMode ( long opmode )

function to set the operation mode

Parameters

opmode desired operation mode (one of epos_opmodes)

Examples:: configtest.cpp, test_epos2.cpp, test_like_h3d.cpp, and test_positions.cpp.

Definition at line 624 of file Epos2.cpp.

void CEpos2::setPositionAFFGain ( long gain )

function to set Acceleration Feed Forward Position Gain

This function sets the actual Acceleration Feed Forward Position Gain

Parameters

gain	(must be between 0 and 65535)

Definition at line 972 of file Epos2.cpp.

void CEpos2::setPositionDGain ( long gain )

function to set D Position Gain

This function sets the actual D Position Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 952 of file Epos2.cpp.

void CEpos2::setPositionDimensionIndex ( long Dimension )

function to set Position Dimension Index

This function sets Position Dimension Index

Parameters

Dimension Dimension and Notation Factor Tables

Definition at line 1441 of file Epos2.cpp.

void CEpos2::setPositionIGain ( long gain )

function to set I Position Gain

This function sets the actual I Position Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 941 of file Epos2.cpp.

void CEpos2::setPositionMarker	(	char	polarity = `0`,
		char	edge_type = `0`,
		char	mode = `0`,
		char	digitalIN = `2`
	)

Sets the configuration of a marker position.

Parameters

digitalIN	The pin which has the Marker position switch property
polarity	0: true on high, 1: true on low
edge_type	0 : rising, 1: falling, 2: both
mode	0: continuous 1: single 2: multiple

Examples:: test_marker.cpp, and test_positions.cpp.

Definition at line 1530 of file Epos2.cpp.

void CEpos2::setPositionNotationIndex ( long notation )

function to set Position Notation Index

This function sets Position Notation Index

Parameters

notation Dimension and Notation Factor Tables

Definition at line 1429 of file Epos2.cpp.

void CEpos2::setPositionPGain ( long gain )

function to set P Position Gain

This function sets the actual P Position Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 931 of file Epos2.cpp.

void CEpos2::setPositionVFFGain ( long gain )

function to set Velocity Feed Forward Position Gain

This function sets the actual Velocity Feed Forward Position Gain

Parameters

gain	(must be between 0 and 65535)

Definition at line 962 of file Epos2.cpp.

void CEpos2::setPositionWindow ( long window_qc )

function to set Position Window

This function sets Position Window Disable: 4’294’967’295 [qc] 0..2’147’483’647

Parameters

window_qc [qc]

Definition at line 1413 of file Epos2.cpp.

void CEpos2::setPositionWindowTime ( long time_ms )

function to set Position Window Time

This function sets Position Window Time [ms] 0..65535

Parameters

time_ms [ms]

Definition at line 1417 of file Epos2.cpp.

void CEpos2::setProfileAcceleration ( long acceleration )

function to SET the Acceleration in profile

This function sets the Acceleration in profile [rev/min/s]

Parameters

acceleration

Definition at line 1054 of file Epos2.cpp.

void CEpos2::setProfileData	(	long	vel,
		long	maxvel,
		long	acc,
		long	dec,
		long	qsdec,
		long	maxacc,
		long	type
	)

function to SET all data of the velocity profile

This function sets all data of the velocity profile.

Parameters

vel	Profile Velocity
maxvel	Profile Max Velocity
acc	Profile Acceleration
dec	Profile Deceleration
qsdec	Profile Quick Stop Deceleration
maxacc	Profile Mac Acceleration
type	Profile Type

Examples:: configtest.cpp.

Definition at line 1111 of file Epos2.cpp.

void CEpos2::setProfileDeceleration ( long deceleration )

function to SET the Deceleration in profile

This function sets the Max Deceleration in profile [rev/min/s]

Parameters

deceleration

Definition at line 1064 of file Epos2.cpp.

void CEpos2::setProfileMaxVelocity ( long velocity )

function to SET the Max Velocity allowed in Profile

This function sets the Max Velocity allowed in Profile [rev/min]

Parameters

velocity

Definition at line 1044 of file Epos2.cpp.

void CEpos2::setProfileQuickStopDecel ( long deceleration )

function to SET the Quick Stop Deceleration in profile

This function sets the Quick Stop Deceleration in profile [rev/min/s]

Parameters

deceleration

Definition at line 1074 of file Epos2.cpp.

void CEpos2::setProfileType ( long type )

function to SET the type in profile

This function sets the type in profile (0=Trapezoidal or 1=Sinusoidal)

Parameters

type

Definition at line 1084 of file Epos2.cpp.

void CEpos2::setProfileVelocity ( long velocity )

function to SET the velocity of the Velocity Profile

This function sets the velocity of the velocity profile used in Profile Position and Profile Velocity [rev/min]

Parameters

velocity

Definition at line 1034 of file Epos2.cpp.

void CEpos2::setRS232Baudrate ( long baudrate )

function to SET the RS232 Baudrate

This function sets the RS232 Baudrate (Firmware 14.36) 0: 9.6 kBaud 1: 14.4 kBaud 2: 19.2 kBaud 3: 38.4 kBaud 4: 57.6 kBaud 5: 115.2 kBaud

It needs to saveParameters and then restart EPOS2

Parameters

baudrate desired following the table

Definition at line 1469 of file Epos2.cpp.

void CEpos2::setRS232FrameTimeout ( long timeout )

function to SET the RS232 Frame Timeout

This function sets the RS232 Frame Timeout [ms] (500 by default)

Parameters

timeout in [ms]

Definition at line 1479 of file Epos2.cpp.

void CEpos2::setTargetCurrent ( long current )

[OPMODE=current] function to SET the target current

This function sets the target current of current operation mode

Parameters

current Target current

Definition at line 860 of file Epos2.cpp.

void CEpos2::setTargetProfilePosition ( long position )

function to SET the target position

This function sets the target position of profile position operation mode

Parameters

position Target position

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 825 of file Epos2.cpp.

void CEpos2::setTargetProfileVelocity ( long velocity )

[OPMODE=profile_velocity] function to set the velocity

Precondition: Operation Mode = profile_velocity

Parameters

velocity desired velocity

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 787 of file Epos2.cpp.

void CEpos2::setTargetVelocity ( long velocity )

function to SET the target velocity

This function sets the target velocity of velocity operation mode

Parameters

velocity Target Velocity

Examples:: configtest.cpp, test_epos2.cpp, test_like_h3d.cpp, and test_positions.cpp.

Definition at line 750 of file Epos2.cpp.

void CEpos2::setThermalTimeCtWinding ( long time_ds )

function to SET Motor Thermal Time Constant Winding

This function sets Motor Thermal Time Constant Winding [ds] = [s*10]

Parameters

time_ds

Definition at line 1365 of file Epos2.cpp.

void CEpos2::setUSBFrameTimeout ( long timeout )

function to SET the USB Frame Timeout

This function sets the USB Frame Timeout [ms] (500 by default)

Parameters

timeout in [ms]

Definition at line 1489 of file Epos2.cpp.

void CEpos2::setVelocityDimensionIndex ( long Dimension )

function to set Velocity Dimension Index

This function sets Velocity Dimension Index

Parameters

Dimension Dimension and Notation Factor Tables

Definition at line 1445 of file Epos2.cpp.

void CEpos2::setVelocityIGain ( long gain )

function to set I Velocity Gain

This function sets Velocity Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 909 of file Epos2.cpp.

void CEpos2::setVelocityNotationIndex ( long notation )

function to set Velocity Notation Index

This function sets Velocity Notation Index

Parameters

notation Dimension and Notation Factor Tables

Definition at line 1433 of file Epos2.cpp.

void CEpos2::setVelocityPGain ( long gain )

function to set P Velocity Gain

This function sets P Velocity Gain

Parameters

gain	(must be between 0 and 32767)

Definition at line 899 of file Epos2.cpp.

void CEpos2::setVelocitySetPointFactorPGain ( long gain )

function to SET Speed Regulator Set Point Factor P Velocity Gain

This function sets Speed Regulator Set Point Factor P Velocity Gain

0..32767

Parameters

gain

Definition at line 919 of file Epos2.cpp.

void CEpos2::setVelocityWindow ( long window_rm )

function to set Velocity Window

This function sets Velocity Window [qc] 0..4’294’967’295

Parameters

window_rm [rev/min]

Definition at line 1421 of file Epos2.cpp.

void CEpos2::setVelocityWindowTime ( long time_ms )

function to set Velocity Window Time

This function sets Velocity Window Time [ms] 0..65535

Parameters

time_ms [ms]

Definition at line 1425 of file Epos2.cpp.

void CEpos2::setVerbose ( bool verbose )

Examples:: configtest.cpp, test_epos2.cpp, test_homing.cpp, and test_marker.cpp.

Definition at line 90 of file Epos2.cpp.

void CEpos2::shutdown ( )

function to reach ready_to_switch_on state

Transitions: 2,6 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Definition at line 517 of file Epos2.cpp.

void CEpos2::startCurrent ( )

[OPMODE=current] function to move the motor in current mode

This function makes move the motor if current mode is the actual operation mode

Precondition: Operation Mode = current

Definition at line 862 of file Epos2.cpp.

void CEpos2::startProfilePosition	(	epos_posmodes	mode,
		bool	blocking = `true`,
		bool	wait = `true`,
		bool	new_point = `true`
	)

function to move the motor to a position in profile position mode

This function makes move the motor if profile position mode is the actual operation mode epos_posmodes: halt:0, absolut:1, relative:2

Precondition: Operation Mode = profile_position

Parameters

mode	epos_posmodes
blocking	If it block the program or if it leave the program manage position reached
wait	If it has to wait current movement to finish or just start the new one
new_point	Assume Target position (seems that it doesn't do anything)

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 831 of file Epos2.cpp.

void CEpos2::startProfileVelocity ( )

[OPMODE=profile_velocity] function to move the motor in a velocity

Precondition: Operation Mode = profile_velocity

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 795 of file Epos2.cpp.

void CEpos2::startVelocity ( )

function to move the motor in Velocity mode

This function makes move the motor if velocity mode is the actual operation mode

Precondition: Operation Mode = velocity

Examples:: configtest.cpp, test_epos2.cpp, test_like_h3d.cpp, and test_positions.cpp.

Definition at line 758 of file Epos2.cpp.

void CEpos2::stopCurrent ( )

[OPMODE=current] function to stop the motor in current mode

This function stops the motor if current mode is the actual operation mode

Precondition: Operation Mode = current

Definition at line 864 of file Epos2.cpp.

void CEpos2::stopHoming ( )

stops a homing operation

Definition at line 1587 of file Epos2.cpp.

void CEpos2::stopProfileVelocity ( )

[OPMODE=profile_velocity] function to stop the motor

Precondition: Operation Mode = profile_velocity

Examples:: configtest.cpp, and test_epos2.cpp.

Definition at line 805 of file Epos2.cpp.

void CEpos2::stopVelocity ( )

function to stop the motor in velocity mode

This function stops the motor if velocity mode is the actual operation mode

Precondition: Operation Mode = velocity

Examples:: configtest.cpp, test_epos2.cpp, test_like_h3d.cpp, and test_positions.cpp.

Definition at line 766 of file Epos2.cpp.

void CEpos2::switchOn ( )

function to reach switch_on state

Transitions: 3 EPOS2 State Machine with libEPOS2 functions See EPOS2 state machine

Definition at line 525 of file Epos2.cpp.

static void* CEpos2::threadTargetReached ( void * param )

static

Thread listens to target reached.

Parameters

param

void CEpos2::waitPositionMarker ( )

wait for marker position reached

Parameters

param

Examples:: test_marker.cpp.

Definition at line 1546 of file Epos2.cpp.

int32_t CEpos2::writeObject	(	int16_t	index,
		int8_t	subindex,
		int32_t	data
	)

private

function to write an object to the EPOS2

This function sends a write object request using CFTDI.

Parameters

index	the hexadecimal index of the object you want to read
subindex	hexadecimal value of the object (usually 0x00)
data	information to send

Returns: returned value by write

Definition at line 158 of file Epos2.cpp.

Member Data Documentation

const int CEpos2::error_codes

static

error integer codes

Definition at line 1151 of file Epos2.h.

const std::string CEpos2::error_descriptions

static

error descriptions

Definition at line 1154 of file Epos2.h.

const std::string CEpos2::error_names

static

Initial value:

= {
  "Generic Error",
  "Current Error",
  "Voltage Error",
  "Temperature Error",
  "Communication Error",
  "Device profile specific",
  "Motion Error"
}

Strings of generic error descriptions.

Definition at line 1148 of file Epos2.h.

Ftdi::Context CEpos2::ftdi

staticprivate

a reference to the FTDI USB device

This attribute points to the communication device used to send and receive data to and from the EPOS2. The communication device is cretaed inside the object at initialization time using the CFTDIServer and the description or serial number of the desired platform via the connect() function.

It is not possible to send or receive data to or from the epos2 until the driver is not connected to the hardware platform. Any attempt to do so will result in an exception being thrown.

Definition at line 80 of file Epos2.h.

bool CEpos2::ftdi_initialized = false

staticprivate

Definition at line 81 of file Epos2.h.

int8_t CEpos2::node_id

private

Definition at line 65 of file Epos2.h.

bool CEpos2::verbose

private

Definition at line 165 of file Epos2.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Info

Utilities

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation