This class gives a device specific interface for Schunk Powerballs, as they need some "special" treatment such as commutation search instead of homing. More...
#include <SchunkPowerBallNode.h>
Inheritance diagram for icl_hardware::canopen_schunk::SchunkPowerBallNode:
Public Member Functions | |
| void | commutationSearch () |
| Performs a commutation search for a Schunk powerball module. More... | |
| virtual void | configureHomingMethod (const uint8_t homing_method) |
| Set the device's homing method for a Schunk PowerBall. More... | |
| virtual void | configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed=0) |
| Set the speeds for homing for a Schunk PowerBall. More... | |
| virtual void | initNode () |
| Initializes the node and sets the Schunk Default PDO mapping. More... | |
| SchunkPowerBallNode (const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr &can_device, HeartBeatMonitor::Ptr heartbeat_monitor) | |
| virtual void | setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping) |
| Choose one of the predefined default mappings. Please see the enum eDefaultPDOMapping for a list of available mappings. See the implementation for further details about the mappings. More... | |
 Public Member Functions inherited from icl_hardware::canopen_schunk::DS402Node | |
| virtual void | acceptPPTargets () |
| After enabling PP movement, this enables accepting new targets again. Remember to sync all nodes and download RPDOs before and after. More... | |
| virtual void | closeBrakes () |
| When the device is in OperationEnabled mode, this function disable the drive motion. More... | |
| virtual void | configureHomingMethod (const int8_t homing_method) |
| Set the device's homing method through an SDO (OD 0x6098) More... | |
| virtual void | configureInterpolationCycleTime (const uint8_t interpolation_cycle_time_ms=8) |
| Set the interpolation cycle time in milliseconds. If no time is given the default will be used. More... | |
| virtual void | disableNode () |
| Puts the device into STATE_SWITCHED_ON mode. If the device was in InterpolatedPositionMode, interpolation will be stopped here, as well. More... | |
| DS402Node (const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr &can_device, HeartBeatMonitor::Ptr heartbeat_monitor) | |
| virtual void | enableNode (const ds402::eModeOfOperation operation_mode=ds402::MOO_RESERVED_0) |
| Switches on the device and enters Operation Enabled mode with the given mode. If the requested mode is InterpolatedPositionMode, interpolation will be started automatically. More... | |
| size_t | getMaximumNumberOfStateTransitions () const |
| ds402::eModeOfOperation | getModeOfOperation () const |
| Get the current mode of operation. More... | |
| virtual ds402::Statusword | getStatus () |
| virtual double | getTargetFeedback () |
| Depending on the mode of operation, this will return the current position, velocity or torque. More... | |
| double | getTransmissionFactor () const |
| The Transmission factor is used for converting radiant units into device ticks. By default it's value is 1, so you can configure the conversion pipeline in the device. However, if the device does not implement any conversion, this can be done on host side with this factor. More... | |
| virtual void | home () |
| Perform homing for this node. More... | |
| virtual void | initDS402State (const icl_hardware::canopen_schunk::ds402::eState &requested_state) |
| Initializes a state of the DS402 state machine. Performs all necessary state transitions until the target state is reached. However, it performs a maximum of m_max_number_of_state_transitions transitions. More... | |
| virtual bool | isModeSupported (const ds402::eModeOfOperation op_mode) |
| Tests whether a given mode of operation is supported by the device. More... | |
| virtual bool | isTargetReached () |
| Returns whether the device has reached it's recent target. More... | |
| virtual void | openBrakes () |
| When the device is in OperationEnabled mode, this function enables the drive motion. More... | |
| virtual void | printStatus () |
| Prints a stringified version of the statusword to the logging system. More... | |
| void | printSupportedModesOfOperation () |
| Prints out all Modes on which the device claims to be able to operate on. More... | |
| virtual void | querySupportedDeviceModes () |
| Uploads all supported modes of operation from the device. and stores them in the m_supported_modes member. More... | |
| virtual void | quickStop () |
| This sends the controlword for performing a quick_stop. More... | |
| virtual bool | resetFault () |
| This function is used to recover from a fault state. More... | |
| void | setMaximumNumberOfStateTransitions (const size_t max_number_of_state_transitions) |
| virtual bool | setModeOfOperation (const ds402::eModeOfOperation op_mode) |
| Sets and initializes a mode of operation. First it will check whether the device supports the requested mode. So if you request a mode that the device does not support, it just returns false and does nothing. More... | |
| virtual void | setNMTState (const NMT::eNMT_State state, const NMT::eNMT_SubState sub_state) |
| virtual bool | setTarget (const float target) |
| Sets the target for the motor. What that target is, depends on the selected mode of operation. The value will be clamped into the range value that is defined by the CanOpen specification. More... | |
| void | setTransmissionFactor (const double transmission_factor) |
| The Transmission factor is used for converting radiant units into device ticks. By default it's value is 1, so you can configure the conversion pipeline in the device. However, if the device does not implement any conversion, this can be done on host side with this factor. More... | |
| virtual void | setupHomingMode (const ds402::HomingModeConfiguration &config) |
| Configure the mandatory parameters for a homing mode. More... | |
| virtual void | setupProfilePositionMode (const ds402::ProfilePositionModeConfiguration &config) |
| Configure the mandatory parameters for a profile position mode. More... | |
| virtual void | setupProfileTorqueMode (const ds402::ProfileTorqueModeConfiguration &config) |
| Configure the mandatory parameters for a profile torque mode. More... | |
| virtual void | setupProfileVelocityMode (const ds402::ProfileVelocityModeConfiguration &config) |
| Configure the mandatory parameters for a profile velocity mode. More... | |
| virtual void | startPPMovement () |
| This sets the RPDO communication for enabling the movement after a target has been set. Note, that sync and pdo-download has to be called in between setting the target and enabling movement. Afterwards call acceptPPTarget() to enable setting following targets. More... | |
| virtual void | stopNode () |
| This redefines the basic stopNode function. More... | |
| Public Member Functions inherited from icl_hardware::canopen_schunk::DS301Node | |
| virtual void | appendPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0) |
| Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping. More... | |
| void | downloadPDOs () |
| Downloads all Receive-PDOs of this node to the device. More... | |
| DS301Node (const uint8_t node_id, const CanDevPtr &can_device, HeartBeatMonitor::Ptr heartbeat_monitor) | |
| uint8_t | getNodeId () const |
| template<typename T > | |
| T | getRPDOValue (const std::string &identifier) |
| template<typename T > | |
| T | getTPDOValue (const std::string &identifier) |
| Get the value of a PDO which is mapped to a given identifier. More... | |
| virtual void | initPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0) |
| Init PDO mapping with a given mapping configuration for a given pdo nr. More... | |
| void | printPDOMapping () |
| Will query the PDO mapping from the device and print that to the output. More... | |
| void | registerPDONotifyCallback (const std::string &identifier, const boost::function< void()> &f) |
| This function maps a callback to a specific mapped PDO entry. This callback will be called by the PDO upload function, whenever a PDO with the specified data will arrive. Please note, that the callback function will only be notified of new data, but the data must be queried from the PDO separately. A PDO entry can call multiple callbacks, currently callbacks can't be unregistered. More... | |
| virtual void | registerWSBroadcaster (boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster) |
| registerWSBroadcaster Adds a debug interface More... | |
| template<typename T > | |
| bool | setRPDOValue (const std::string &identifier, const T value) |
| Set the value of a PDO which is mapped to a given identifier. More... | |
| template<typename T > | |
| bool | setTPDOValue (const std::string &identifier, const T value) |
| Set the value of a PDO which is mapped to a given identifier. More... | |
| virtual void | startHeartbeat () |
| Initializes the heartbeat for the node. Throws ProtocolException it heartbeat cannot be initialized. More... | |
| void | uploadPDOs () |
| Uploads all Transmit-PDOs of this node from the device. More... | |
Static Public Attributes | |
| static const double | RAD_TO_STEPS_FACTOR = 57295.7795131 |
| This factor will be used to convert RAD numbers into encoder ticks. More... | |
Protected Member Functions | |
| virtual void | configureInterpolationData (const uint8_t buffer_organization=0, const int16_t interpolation_type=0, const uint8_t size_of_data_record=4) |
| Additionally to the basis implementation this sets a number of cycles that are allowed to be missed by device before stopping execution. More... | |
| Protected Member Functions inherited from icl_hardware::canopen_schunk::DS402Node | |
| void | configureHomingAcceleration (const uint32_t acceleration) |
| Set the device's homing acceleration through an SDO (OD 0x609A) More... | |
| void | configureMaxAcceleration (const uint32_t acceleration) |
| Set the device's maximum acceleration through an SDO (OD 0x60c5) More... | |
| void | configureMaxDeceleration (const uint32_t deceleration) |
| Set the device's maximum deceleration through an SDO (OD 0x60c6) More... | |
| void | configureMotionProfileType (const int16_t motion_type) |
| Set the device's motion profile type through an SDO (OD 0x6086) More... | |
| void | configureProfileAcceleration (const uint32_t acceleration) |
| Set the device's profile acceleration through an SDO (OD 0x6083) More... | |
| void | configureProfileDeceleration (const uint32_t deceleration) |
| Set the device's profile deceleration through an SDO (OD 0x6084) More... | |
| void | configureProfileVelocity (const uint32_t velocity) |
| Set the device's profile velocity through an SDO (OD 0x6081) More... | |
| void | configureQuickStopDeceleration (const uint32_t deceleration) |
| Set the device's quick stop deceleration through an SDO (OD 0x6085) More... | |
| void | configureSensorSelectionCode (const int16_t sensor_selection_code) |
| Set the device's sensor selection code through an SDO (OD 0x606a) More... | |
| void | configureTorqueProfileType (const int16_t torque_profile_type) |
| Set the device's torque profile type through an SDO (OD 0x6088) More... | |
| void | configureTorqueSlope (const uint32_t torque_slope) |
| Set the device's torque slope through an SDO (OD 0x6087) More... | |
| void | doDS402StateTransition (const ds402::eStateTransission transition) |
| Performs a state transition in the DS402 state machine. More... | |
| virtual void | onStatusWordUpdate () |
| This will be called when a new statusword PDO comes in. If the device's state differs from the one expected, the local status will be changed accordingly. More... | |
| std::string | operationModeSpecificStatus (const ds402::Statusword &statusword) |
| This function queries the two operation mode specific bits and turns them to a human-readable string. More... | |
Private Member Functions | |
| bool | CommutationCalibrated () |
| Checks if the device is already correctly commutated by checking the value of the relevant register entry (via SDO communication). More... | |
Additional Inherited Members | |
| Public Attributes inherited from icl_hardware::canopen_schunk::DS301Node | |
| EMCY::Ptr | m_emcy |
| EMCY object to handle spontaneous callbacks with emergency messages. More... | |
| NMT | m_nmt |
| Object to handle NMT calls and status. More... | |
| RPDO::PtrList | m_rpdos |
| RPDOS of this node (up to 4 in standard config) More... | |
| SDO | m_sdo |
| SDO object for specific calls. More... | |
| TPDO::PtrList | m_tpdos |
| TPDOS of this node (up to 4 in standard config) More... | |
| Protected Attributes inherited from icl_hardware::canopen_schunk::DS402Node | |
| ds402::eState | m_current_ds402_state |
| ds402::eState | m_expected_ds402_state |
| int8_t | m_homing_method |
| uint8_t | m_interpolation_cycle_time_ms |
| Cycle time of interpolation mode. More... | |
| size_t | m_max_number_of_state_transitions |
| ds402::eModeOfOperation | m_op_mode |
| The mode of operation of this device. More... | |
| ds402::ProfilePositionModeConfiguration | m_ppm_config |
| ds402::SupportedDriveModes | m_supported_modes |
| supported modes of operation More... | |
| double | m_transmission_factor |
| Protected Attributes inherited from icl_hardware::canopen_schunk::DS301Node | |
| CanDevPtr | m_can_dev |
| Device handle for transmission of messages. More... | |
| uint16_t | m_heartbeat_cycle_time_ms |
| HeartBeatMonitor::Ptr | m_heartbeat_monitor |
| uint8_t | m_node_id |
| CANOPEN ID of the node. More... | |
| boost::unordered_map< std::string, PDOMapEntry > | m_rpdo_mapping |
| This map holds a mapping between an identifier string and a mapped position in a RPDO. More... | |
| boost::unordered_map< std::string, PDOMapEntry > | m_tpdo_mapping |
| This map holds a mapping between an identifier string and a mapped position in a TPDO. More... | |
| boost::shared_ptr< icl_comm::websocket::WsBroadcaster > | m_ws_broadcaster |
| Interface to send out diagnostics data. Only available if compiled with IC_BUILDER_ICL_COMM_WEBSOCKET More... | |
Detailed Description
This class gives a device specific interface for Schunk Powerballs, as they need some "special" treatment such as commutation search instead of homing.
Also, the powerballs have predefined PDO mappings: RPDO0 (Commands from PC to device):
- "control_word" -> 0x6040
- "torque_offset" -> 0x60B2
- "interpolation_buffer" -> 0x60C1
TPDO (Information from device to PC):
- "status_word" -> 0x6041
- "measured_torque" -> 0x6077 (which as far as we know are current values)
- "measured_position" -> 0x6064
Definition at line 46 of file SchunkPowerBallNode.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const SchunkPowerBallNode> icl_hardware::canopen_schunk::SchunkPowerBallNode::ConstPtr |
Shared pointer to a const SchunkPowerBallNode.
Definition at line 52 of file SchunkPowerBallNode.h.
| typedef boost::shared_ptr<SchunkPowerBallNode> icl_hardware::canopen_schunk::SchunkPowerBallNode::Ptr |
Shared pointer to a SchunkPowerBallNode.
Definition at line 50 of file SchunkPowerBallNode.h.
Constructor & Destructor Documentation
| icl_hardware::canopen_schunk::SchunkPowerBallNode::SchunkPowerBallNode | ( | const uint8_t | node_id, |
| const icl_hardware::canopen_schunk::CanDevPtr & | can_device, | ||
| HeartBeatMonitor::Ptr | heartbeat_monitor | ||
| ) |
Definition at line 37 of file SchunkPowerBallNode.cpp.
Member Function Documentation
|
private |
Checks if the device is already correctly commutated by checking the value of the relevant register entry (via SDO communication).
- Returns
- True, if commutation is already achieved, false otherwise.
Definition at line 171 of file SchunkPowerBallNode.cpp.
| void icl_hardware::canopen_schunk::SchunkPowerBallNode::commutationSearch | ( | ) |
Performs a commutation search for a Schunk powerball module.
The commutation search gives information about where the module is when it is switched on. Basically, this gets called automatically the first time a movement is requested from the device.
Make sure, this is called during the initialization process (This should be taken care of by this driver already)
Definition at line 109 of file SchunkPowerBallNode.cpp.
|
virtual |
Set the device's homing method for a Schunk PowerBall.
Reimplementation for a Schunk powerball. It does not support to write the homing method register 0x6098. Therefor this only sets the internal member variable to the given value. Any value different from 0 enables the homing mode. Apart from that, it's value will be ignored.
- Parameters
-
homing_method Note that this parameter will be ignored.
Definition at line 188 of file SchunkPowerBallNode.cpp.
|
virtual |
Set the speeds for homing for a Schunk PowerBall.
Reimplementation for a Schunk powerball. It does not support to write the homing method register 0x6099.
- Parameters
-
low_speed Note that this parameter will be ignored. high_speed Note that this parameter will be ignored.
Reimplemented from icl_hardware::canopen_schunk::DS402Node.
Definition at line 196 of file SchunkPowerBallNode.cpp.
|
protectedvirtual |
Additionally to the basis implementation this sets a number of cycles that are allowed to be missed by device before stopping execution.
See the basis implementation for member documentation.
Reimplemented from icl_hardware::canopen_schunk::DS402Node.
Definition at line 204 of file SchunkPowerBallNode.cpp.
|
virtual |
Initializes the node and sets the Schunk Default PDO mapping.
Reimplemented from icl_hardware::canopen_schunk::DS402Node.
Definition at line 44 of file SchunkPowerBallNode.cpp.
|
virtual |
Choose one of the predefined default mappings. Please see the enum eDefaultPDOMapping for a list of available mappings. See the implementation for further details about the mappings.
- Parameters
-
mapping Mapping that should be set.
Reimplemented from icl_hardware::canopen_schunk::DS402Node.
Definition at line 52 of file SchunkPowerBallNode.cpp.
Member Data Documentation
|
static |
This factor will be used to convert RAD numbers into encoder ticks.
Definition at line 57 of file SchunkPowerBallNode.h.
The documentation for this class was generated from the following files: