robotiq_c_model_control::CModelEtherCatClient Class Reference

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map. More...

#include <c_model_ethercat_client.h>

List of all members.

Public Types
typedef robotiq_c_model_control::CModel_robot_input	GripperInput
typedef robotiq_c_model_control::CModel_robot_output	GripperOutput
Public Member Functions
	CModelEtherCatClient (robotiq_ethercat::EtherCatManager &manager, int slave_no)
	Constructs a control interface to a C Model Robotiq gripper on the given ethercat network and the given slave_no.
GripperInput	readInputs () const
	Reads set of input-register values from the gripper.
GripperOutput	readOutputs () const
	Reads set of output-register values from the gripper.
void	writeOutputs (const GripperOutput &output)
	Write the given set of control flags to the memory of the gripper.
Private Attributes
robotiq_ethercat::EtherCatManager &	manager_
const int	slave_no_

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Detailed Description

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map.

Definition at line 22 of file c_model_ethercat_client.h.

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Member Typedef Documentation

typedef robotiq_c_model_control::CModel_robot_input robotiq_c_model_control::CModelEtherCatClient::GripperInput

Definition at line 26 of file c_model_ethercat_client.h.

typedef robotiq_c_model_control::CModel_robot_output robotiq_c_model_control::CModelEtherCatClient::GripperOutput

Definition at line 25 of file c_model_ethercat_client.h.

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Constructor & Destructor Documentation

robotiq_c_model_control::CModelEtherCatClient::CModelEtherCatClient	(	robotiq_ethercat::EtherCatManager &	manager,
		int	slave_no
	)

Constructs a control interface to a C Model Robotiq gripper on the given ethercat network and the given slave_no.

Parameters:

[in]	manager	The interface to an EtherCAT network that the gripper is connected to.
[in]	slave_no	The slave number of the gripper on the EtherCAT network (>= 1)

Definition at line 11 of file c_model_ethercat_client.cpp.

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Member Function Documentation

CModelEtherCatClient::GripperInput robotiq_c_model_control::CModelEtherCatClient::readInputs

(

)

const

Reads set of input-register values from the gripper.

Returns:

The gripper input registers as read from the controller IOMap

Definition at line 37 of file c_model_ethercat_client.cpp.

CModelEtherCatClient::GripperOutput robotiq_c_model_control::CModelEtherCatClient::readOutputs

(

)

const

Reads set of output-register values from the gripper.

Returns:

The gripper output registers as read from the controller IOMap

Definition at line 61 of file c_model_ethercat_client.cpp.

void robotiq_c_model_control::CModelEtherCatClient::writeOutputs

(

const GripperOutput &

output

)

Write the given set of control flags to the memory of the gripper.

Parameters:

[in]

output

The set of output-register values to write to the gripper

Definition at line 20 of file c_model_ethercat_client.cpp.

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Member Data Documentation

robotiq_ethercat::EtherCatManager& robotiq_c_model_control::CModelEtherCatClient::manager_ [private]

Definition at line 60 of file c_model_ethercat_client.h.

const int robotiq_c_model_control::CModelEtherCatClient::slave_no_ [private]

Definition at line 61 of file c_model_ethercat_client.h.

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

• c_model_ethercat_client.h
• c_model_ethercat_client.cpp