icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration Struct Reference

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

#include <ds402.h>

Public Member Functions
	ProfilePositionModeConfiguration ()

Public Attributes
bool	change_set_immediately
	If this is set to true the device will not ramp down at a setpoint if a following one is given. Defaults to false. More...
int16_t	motion_profile_type
	Type of ramp used for accelerating and decelerating. Defaults to linear. More...
float	profile_acceleration
	This will be used for both acceleration ramps. More...
float	profile_deceleration
	This will be used for both acceleration ramps. More...
float	profile_velocity
	Final velocity. More...
bool	use_blending
	If set to true, the device will blend over to a new setpoint. Defaults to true. More...
bool	use_relative_targets
	This parameter influences the interpretation of new set points. If set to true, new set point positions will be interpreted as relative positions, if set to false absolute positions shall be commanded. Defaults to false. More...

Detailed Description

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

Definition at line 169 of file ds402.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::ProfilePositionModeConfiguration ( )

inline

Definition at line 216 of file ds402.h.

Member Data Documentation

bool icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::change_set_immediately

If this is set to true the device will not ramp down at a setpoint if a following one is given. Defaults to false.

Definition at line 199 of file ds402.h.

int16_t icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::motion_profile_type

Type of ramp used for accelerating and decelerating. Defaults to linear.

Definition at line 193 of file ds402.h.

float icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::profile_acceleration

This will be used for both acceleration ramps.

Definition at line 179 of file ds402.h.

float icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::profile_deceleration

This will be used for both acceleration ramps.

Note

Some devices do not support setting the deceleration parameter. Acceleration parameter will be used in this case. Also, this parameter defaults to 0, in which case also the acceleration parameter will be used.

Definition at line 188 of file ds402.h.

float icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::profile_velocity

Final velocity.

Definition at line 174 of file ds402.h.

bool icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::use_blending

If set to true, the device will blend over to a new setpoint. Defaults to true.

Definition at line 213 of file ds402.h.

bool icl_hardware::canopen_schunk::ds402::ProfilePositionModeConfiguration::use_relative_targets

This parameter influences the interpretation of new set points. If set to true, new set point positions will be interpreted as relative positions, if set to false absolute positions shall be commanded. Defaults to false.

Definition at line 207 of file ds402.h.

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The documentation for this struct was generated from the following file:

• ds402.h