Classes
union	Controlword
	data union for access to DSP 402 6040 controlword, More...

struct	Controlword_
	bit field for DSP 402 6040 controlword, More...

struct	HomingModeConfiguration
	Configuration parameters for a Homing_Mode according to CiA DSP-402 V1.1 section 13.2.1. More...

struct	ProfilePositionModeConfiguration
	Configuration parameters for a Profile_Position_Mode according to CiA DSP-402 V1.1 section 12.2.1. More...

struct	ProfileTorqueModeConfiguration
	Configuration parameters for a Profile_Torque_Mode according to CiA DSP-402 V1.1 section 17.2.1. More...

struct	ProfileVelocityModeConfiguration
	Configuration parameters for a Profile_Velocity_Mode according to CiA DSP-402 V1.1 section 16.2.1. More...

union	Statusword
	data union for access to DSP 402 6041 statusword, More...

struct	Statusword_
	bit field for DSP 402 6041 statusword, More...

union	SupportedDriveModes
	data union for access to DSP 402 6041 statusword, More...

struct	SupportedDriveModes_

Enumerations
enum	eModeOfOperation { MOO_RESERVED_0 = 0, MOO_PROFILE_POSITION_MODE = 1, MOO_VELOCITY_MODE = 2, MOO_PROFILE_VELOCITY_MODE = 3, MOO_PROFILE_TORQUE_MODE = 4, MOO_RESERVED_1 = 5, MOO_HOMING_MODE = 6, MOO_INTERPOLATED_POSITION_MODE = 7, MOO_CYCLIC_SYNC_POSITION_MODE = 8, MOO_CYCLIC_SYNC_VELOCITY_MODE = 9, MOO_CYCLIC_SYNC_TORQUE_MODE = 10 }

enum	eState { STATE_START, STATE_NOT_READY_TO_SWITCH_ON, STATE_SWITCH_ON_DISABLED, STATE_READY_TO_SWITCH_ON, STATE_SWITCHED_ON, STATE_OPERATION_ENABLE, STATE_QUICKSTOP_ACTIVE, STATE_FAULT_REACTION_ACTIVE, STATE_FAULT }
	DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000. More...

enum	eStateTransission { STATE_TRANS_INITIALIZE = 1, STATE_TRANS_SHUTDOWN = 2, STATE_TRANS_SWITCH_ON = 3, STATE_TRANS_ENABLE_OPERATION = 4, STATE_TRANS_QUICK_STOP = 11, STATE_TRANS_FAULT_RESET = 15 }

Functions
std::string	deviceStatusString (const eState state)
	Turns a status word into a status string according to the elmo DS-402 implementation guide chapter 6.6.1. More...

std::string	operationModeString (const eModeOfOperation mode)

eState	stateFromStatusword (const ds402::Statusword &statusword)

Enumeration Type Documentation

Enumerator
MOO_RESERVED_0
MOO_PROFILE_POSITION_MODE
MOO_VELOCITY_MODE
MOO_PROFILE_VELOCITY_MODE
MOO_PROFILE_TORQUE_MODE
MOO_RESERVED_1
MOO_HOMING_MODE
MOO_INTERPOLATED_POSITION_MODE
MOO_CYCLIC_SYNC_POSITION_MODE
MOO_CYCLIC_SYNC_VELOCITY_MODE
MOO_CYCLIC_SYNC_TORQUE_MODE

Definition at line 41 of file ds402.h.

DS402 states as described in Figure 6.3 in ELMO DS402 implementation guide V1.000.

Definition at line 61 of file ds402.h.

Enumerator
STATE_TRANS_INITIALIZE
STATE_TRANS_SHUTDOWN
STATE_TRANS_SWITCH_ON
STATE_TRANS_ENABLE_OPERATION
STATE_TRANS_QUICK_STOP
STATE_TRANS_FAULT_RESET

Definition at line 75 of file ds402.h.

Function Documentation

std::string icl_hardware::canopen_schunk::ds402::deviceStatusString ( const eState state )

inline

Turns a status word into a status string according to the elmo DS-402 implementation guide chapter 6.6.1.

Parameters

statusword Statusword of device

Definition at line 276 of file ds402.h.

std::string icl_hardware::canopen_schunk::ds402::operationModeString ( const eModeOfOperation mode )

inline

Definition at line 328 of file ds402.h.

eState icl_hardware::canopen_schunk::ds402::stateFromStatusword ( const ds402::Statusword & statusword )

inline

Definition at line 375 of file ds402.h.

const uint16_t icl_hardware::canopen_schunk::ds402::ID_CONTROL_WORD = 0x6040

static

Definition at line 38 of file ds402.h.

const uint16_t icl_hardware::canopen_schunk::ds402::ID_STATUS_WORD = 0x6041

static

Definition at line 39 of file ds402.h.