Classes | Namespaces | Enumerations | Functions | Variables
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

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.



schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Thu Jun 6 2019 20:17:24