C++ CANopenMotorDriver class for ROS. More...

#include <inc/CANopenMotorDriver.h>

Public Member Functions
	CANopenMotorDriver (unsigned char axis_id, ros::NodeHandle *nh)
	Constructor.
void	enableOperation ()
void	readyToSwitchOn ()
void	run ()
	Run.
void	setQuickStopDeceleration (double deceleration)
	Set quick stop deceleration.
void	setupDCmotorWithEncoder (unsigned int num_of_encoder_lines, double Tr, double T)
void	setupHomingMode (HomingMethod method, double fast_speed, double slow_speed, double acceleration, double offset=0.0)
	Setup homing.
void	setupPositionScurveProfileMode (double target, double speed, double acceleration, double jerk_time)
	Setup position S-curve profile mode.
void	setupPositionTrapezoidalProfileMode (double target, double speed, double acceleration)
	Setup position trapezoidal profile mode.
void	setupStepperMotor (unsigned int num_of_steps, unsigned int num_of_usteps, double Tr, double T)
void	setupVelocityProfileMode (double target_speed, double acceleration)
	Setup velocity profile mode.
void	startNode ()
	Start remote node.
void	switchOn ()
	~CANopenMotorDriver ()
	Destructor.
Private Member Functions
void	receivedCANframe (const can_msgs::CANFrame::ConstPtr &msg)
	Received CANframe.
Private Attributes
ros::Publisher	can_pub_
	CAN bus publisher.
ros::Subscriber	can_sub_
	CAN bus subscriber.
unsigned char	id_
	ID of the CAN device being used.
boost::function< void(char *, int)	limitSwitchesCallback_ )
	Callback boost function for limit switches.
double	load_to_motor_acceleration_
	Acceleration units.
double	load_to_motor_jerk_
	Jerk units.
double	load_to_motor_position_
	Position units.
double	load_to_motor_speed_
	Speed units.
double	T_
	Time convertion factor.

Detailed Description

C++ CANopenMotorDriver class for ROS.

This class was based on Technosoft CANopen programming guide.

Definition at line 129 of file CANopenMotorDriver.h.

Constructor & Destructor Documentation

canopen::CANopenMotorDriver::CANopenMotorDriver	(	unsigned char	axis_id,
		ros::NodeHandle *	nh
	)

Constructor.

Macro for throwing an exception with a message, passing args.

Definition at line 48 of file CANopenMotorDriver.cpp.

canopen::CANopenMotorDriver::~CANopenMotorDriver ( )

Destructor.

Definition at line 58 of file CANopenMotorDriver.cpp.

Member Function Documentation

void canopen::CANopenMotorDriver::enableOperation ( )

Enable operation.

Definition at line 154 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::readyToSwitchOn ( )

Ready to switch on.

Definition at line 128 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::receivedCANframe ( const can_msgs::CANFrame::ConstPtr & msg ) [private]

Received CANframe.

This is the callback function for incoming CAN frames.

Parameters:

msg	ROS can_msgs/CANFrame message.

Definition at line 63 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::run ( )

Run.

Run the last defined commands.

Definition at line 167 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setQuickStopDeceleration ( double deceleration )

Set quick stop deceleration.

The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is received.

Parameters:

deceleration Quick stop deceleration.

Definition at line 358 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setupDCmotorWithEncoder	(	unsigned int	num_of_encoder_lines,
		double	Tr,
		double	T
	)

Definition at line 75 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setupHomingMode	(	canopen::HomingMethod	method,
		double	fast_speed,
		double	slow_speed,
		double	acceleration,
		double	offset = `0.0`
	)

Setup homing.

Homing is the method by which a drive seeks the home position. There are various methods to achieve this position using the four available sources for the homing signal: limit switches (negative and positive), home switch and index pulse.

Parameters:

method	The homing method determines the method that will be used during homing (1 to 35).
fast_speed	The slower speed is used to find the index pulse.
slow_speed	The faster speed is used to find the home switch.
acceleration	The acceleration to be used for all the accelerations and decelerations with the standard homing modes.
offset	The difference between the zero position for the application and the machine home position.

Definition at line 184 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setupPositionScurveProfileMode	(	double	target,
		double	speed,
		double	acceleration,
		double	jerk_time
	)

Setup position S-curve profile mode.

S-curve profile The built-in reference generator computes a position profile with an S-curve shape of the speed. This shape is due to the jerk limitation, leading to a trapezoidal or triangular profile for the acceleration and an S-curve profile for the speed. The CANopen master specifies the absolute or relative Target Position, the Profile Velocity, the Profile Acceleration and the jerk rate. The jerk rate is set indirectly via the Jerk time, which represents the time needed to reach the maximum acceleration starting from zero.

Parameters:

target	The position that the drive should move to.
speed	The maximum speed to reach at the end of the acceleration ramp.
acceleration	The acceleration and deceleration rates used to change the speed between 2 levels.
jerk_time	The acceleration and deceleration rates used to change the speed between 2 levels.

void canopen::CANopenMotorDriver::setupPositionTrapezoidalProfileMode	(	double	target,
		double	speed,
		double	acceleration
	)

Setup position trapezoidal profile mode.

Trapezoidal profile. The built-in reference generator computes the position profile with a trapezoidal shape of the speed, due to a limited acceleration. The CANopen master specifies the absolute or relative Target Position, the Profile Velocity and the Profile Acceleration.

Parameters:

target	The position that the drive should move to.
speed	The maximum speed to reach at the end of the acceleration ramp.
acceleration	The acceleration and deceleration rates used to change the speed between 2 levels.

Definition at line 277 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setupStepperMotor	(	unsigned int	num_of_steps,
		unsigned int	num_of_usteps,
		double	Tr,
		double	T
	)

Definition at line 93 of file CANopenMotorDriver.cpp.

void canopen::CANopenMotorDriver::setupVelocityProfileMode	(	double	target_speed,
		double	acceleration
	)

Setup velocity profile mode.

In the Velocity Profile Mode the drive performs speed control. The built-in reference generator computes a speed profile with a trapezoidal shape, due to a limited acceleration. The Target Velocity object specifies the jog speed (speed sign specifies the direction) and the Profile Acceleration object the acceleration/deceleration rate.

Parameters: