This class describe the EtherCAT driver for a beckhoff EL1018 device. More...

#include <EL1018.h>

Inheritance diagram for ethercatcpp::EL1018:

Public Types
enum	channel_id_t { channel_1, channel_2, channel_3, channel_4, channel_5, channel_6, channel_7, channel_8 }
	This enum define open circuit detection pin. More...

Public Types inherited from ethercatcpp::SlaveDevice
enum	syncmanager_buffer_t { ASYNCHROS_OUT, ASYNCHROS_IN, SYNCHROS_OUT, SYNCHROS_IN = 4 }
	This enum define all type of buffers (SyncManager type) More...

Public Member Functions
	EL1018 ()
	Constructor of EL1018 class. More...

virtual	~EL1018 ()

bool	channel_state (channel_id_t channel) const
	Get state of a channel. More...

void	print_all_channels () const
	Print all available data. More...

Public Member Functions inherited from ethercatcpp::SlaveDevice
	SlaveDevice ()
	Constructor of SlaveDevice class. More...

virtual	~SlaveDevice ()

void	set_serial_number (uint32_t serial_number)
	Set the serial number of the device. More...

uint32_t	eep_manufacturer () const
	Get EtherCAT device manufacturer id. More...

uint32_t	eep_device () const
	Get EtherCAT device id. More...

uint32_t	serial_number () const
	Get device serial number. More...

Public Member Functions inherited from ethercatcpp::Device
	Device ()

virtual	~Device ()

Private Member Functions
void	unpack_status_buffer ()

Private Attributes
uint8_t	data_

Additional Inherited Members
Protected Member Functions inherited from ethercatcpp::SlaveDevice
template<typename T , typename... U>
void	define_physical_buffer (syncmanager_buffer_t type, uint16_t start_addr, uint32_t flags)
	Define a physical buffer (EtherCAT syncManager buffer). More...

void	define_physical_buffer (syncmanager_buffer_t type, uint16_t start_addr, uint32_t flags, uint16_t length)
	Define a physical buffer (EtherCAT syncManager buffer). More...

template<typename T >
T *	input_buffer (uint16_t start_addr)
	Get data of input physical buffer. More...

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	input_buffer (uint16_t start_addr)

uint8_t *	input_buffer (uint16_t start_addr)
	Get data of input physical buffer. More...

template<typename T >
T *	output_buffer (uint16_t start_addr)
	Get data of output physical buffer. More...

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	output_buffer (uint16_t start_addr)

uint8_t *	output_buffer (uint16_t start_addr)
	Get data of output physical buffer. More...

void	add_run_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a run step and define pre_function and post_function run step. More...

void	add_init_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a init step and define pre_function and post_function for this init step. More...

void	add_end_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a end step and define pre_function and post_function for this end step. More...

void	set_id (const std::string &name, uint32_t manufacturer, uint32_t model)
	Set a specific ID to the slave. More...

void	define_distributed_clock (bool have_dc)
	Define if the slave have a distributed clock. More...

void	define_period_for_non_cyclic_steps (int period)
	Define the period between two non cyclic steps. More...

void	configure_at_init (std::function< void()> &&func)
	Define the function that configures the slave in PREOP state at initialization of the ethercat bus (Master::init()) . More...

void	configure_at_end (std::function< void()> &&func)
	Define the function that performs configuration actions in PREOP state at termination of the ethercat bus. (Master::end()). More...

int	write_sdo (uint16_t index, uint8_t sub_index, int buffer_size, void *buffer) const
	write a SDO capable object field More...

int	read_sdo (uint16_t index, uint8_t sub_index, int buffer_size, void *buffer) const
	read a SDO capable object field More...

template<typename T >
int	write_sdo (uint16_t index, uint8_t sub_index, T &value) const
	Send a CoE write SDO packet to the slave. More...

template<typename T >
int	read_sdo (uint16_t index, uint8_t sub_index, T &value) const
	Send a CoE read SDO packet to the slave. More...

template<typename T >
bool	start_command_pdo_mapping ()
	Start the definition of the command PDO mapping. More...

template<typename T >
bool	add_command_pdo_mapping (uint16_t pdo_address)
	Add a new command PDO map link. More...

template<typename T >
bool	end_command_pdo_mapping ()
	Finish the definition of the command PDO mapping. More...

template<typename T >
bool	start_status_pdo_mapping ()
	Start definition of the status PDO mapping. More...

template<typename T >
bool	add_status_pdo_mapping (uint16_t pdo_address)
	Add a new STATUS PDO map link. More...

template<typename T >
bool	end_status_pdo_mapping ()
	Finish definition of the status PDO mapping. More...

void	configure_dc_sync0 (uint32_t cycle_time_0, int32_t cycle_shift) const
	Define DC synchro signal 0. More...

void	configure_dc_sync0_1 (uint32_t cycle_time_0, uint32_t cycle_time_1, int32_t cycle_shift) const
	Define DC synchro signals 0 and 1. More...

int32_t	read_file (std::string_view filename, uint32_t password, int32_t size, uint8_t *buffer) const

bool	write_file (std::string_view filename, uint32_t password, int32_t size, uint8_t *buffer) const

bool	read_sercos (uint8_t drive, uint8_t flags, uint16_t idn, int32_t size, uint8_t *buffer) const

bool	write_sercos (uint8_t drive, uint8_t flags, uint16_t idn, int32_t size, uint8_t *buffer) const

Detailed Description

This class describe the EtherCAT driver for a beckhoff EL1018 device.

This driver permit to communicate with a "beckhoff EL1018" through an EtherCAT bus. The EL1018 EtherCAT Terminal is an interface to connect 8-channel digital input (fast).

WARNING !! Inputs ids channels are not the same that Connectors ids !!!

Examples: example_EL1018.cpp, and example_EL1018_2008.cpp.

Member Enumeration Documentation

◆ channel_id_t

enum ethercatcpp::EL1018::channel_id_t

This enum define open circuit detection pin.

Enumerator
channel_1	Channel 1.
channel_2	Channel 2.
channel_3	Channel 3.
channel_4	Channel 4.
channel_5	Channel 5.
channel_6	Channel 6.
channel_7	Channel 7.
channel_8	Channel 8.

Constructor & Destructor Documentation

◆ EL1018()

ethercatcpp::EL1018::EL1018 ( )

Constructor of EL1018 class.

◆ ~EL1018()

virtual ethercatcpp::EL1018::~EL1018 ( )

virtual

Member Function Documentation

◆ channel_state()

bool ethercatcpp::EL1018::channel_state ( channel_id_t channel ) const

Get state of a channel.

Parameters

[in] channel desired channel (choose in channel_id_t)

Returns: state of specified channel

Examples: example_EL1018.cpp, and example_EL1018_2008.cpp.

◆ print_all_channels()

void ethercatcpp::EL1018::print_all_channels ( ) const

Print all available data.

Examples: example_EL1018.cpp, and example_EL1018_2008.cpp.

◆ unpack_status_buffer()

void ethercatcpp::EL1018::unpack_status_buffer ( )

private

Member Data Documentation

◆ data_

uint8_t ethercatcpp::EL1018::data_

private

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

EL1018.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members