ethercatcpp::Master Class Reference

This class define The EtherCAT Master. More...

#include <master.h>

Public Member Functions
	Master ()
	Constructor of Master class. More...
	Master (Master &&)=default
	Master (Master &)=delete
	~Master ()
Master &	operator= (Master &&)=default
Master &	operator= (Master &)=delete
void	add (Device &device)
	Add a new device to the global Ethercat bus. The order of addition must match the hardware order. Once all devices are added, call init() More...
void	init ()
	Initializes network interface(s) then detect and match all devices on hardware bus. More...
void	end ()
	Close all interface(s) (ethernet and EtherCAT) More...
void	print_slave_info ()
	Print all devices informations from EtherCAT system (Master) datas. More...
void	set_primary_interface (const std::string &interface_primary)
	Set the primary network interface to the EtherCAT system (Master) More...
void	set_redundant_interface (const std::string &interface_redundant)
	Set the secondary (redundant) network interface to the EtherCAT system (Master) More...
void	set_dc_compensate_shift_time (int32_t shift_time)
	Set the DC compensate shift time. More...
bool	next_cycle ()
	Launch next ethercat communication cycle. More...
bool	is_redundant () const
	Tell whether the master is configured in redundant mode. More...

Private Attributes
std::unique_ptr< Impl >	impl_

Detailed Description

This class define The EtherCAT Master.

To create an EtherCAT system, Master is needed. It regroup all datas (network interface used, configurations, devices used, ...) and control the step cycle.

Examples

clipx_example.cpp, example_EL1018.cpp, example_EL1018_2008.cpp, example_EL2008.cpp, example_EL3104.cpp, example_EL3164.cpp, example_EL5101.cpp, shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

Constructor & Destructor Documentation

Master() [1/3]

ethercatcpp::Master::Master

(

)

Constructor of Master class.

Master() [2/3]

ethercatcpp::Master::Master ( Master &&  )

default

Master() [3/3]

ethercatcpp::Master::Master ( Master &  )

delete

~Master()

ethercatcpp::Master::~Master

(

)

Member Function Documentation

add()

void ethercatcpp::Master::add

(

Device &

device

)

Add a new device to the global Ethercat bus. The order of addition must match the hardware order. Once all devices are added, call init()

Parameters

[in]

device

the device to add, either a slave or a bus

Examples

clipx_example.cpp, example_EL1018.cpp, example_EL1018_2008.cpp, example_EL2008.cpp, example_EL3104.cpp, example_EL3164.cpp, example_EL5101.cpp, shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

end()

void ethercatcpp::Master::end

(

)

Close all interface(s) (ethernet and EtherCAT)

init()

void ethercatcpp::Master::init

(

)

Initializes network interface(s) then detect and match all devices on hardware bus.

Examples

clipx_example.cpp, example_EL1018.cpp, example_EL1018_2008.cpp, example_EL2008.cpp, example_EL3104.cpp, example_EL3164.cpp, example_EL5101.cpp, shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

is_redundant()

bool ethercatcpp::Master::is_redundant

(

)

const

Tell whether the master is configured in redundant mode.

Returns

true if in redundant mode, false otherwise

next_cycle()

bool ethercatcpp::Master::next_cycle

(

)

Launch next ethercat communication cycle.

This function send/receive the frame through EtherCAT network.

Examples

clipx_example.cpp, example_EL1018.cpp, example_EL1018_2008.cpp, example_EL2008.cpp, example_EL3104.cpp, example_EL3164.cpp, example_EL5101.cpp, shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

operator=() [1/2]

Master& ethercatcpp::Master::operator= ( Master &&  )

default

operator=() [2/2]

Master& ethercatcpp::Master::operator= ( Master &  )

delete

print_slave_info()

void ethercatcpp::Master::print_slave_info

(

)

Print all devices informations from EtherCAT system (Master) datas.

set_dc_compensate_shift_time()

void ethercatcpp::Master::set_dc_compensate_shift_time

(

int32_t

shift_time

)

Set the DC compensate shift time.

The shift time depend on computer speed. A default value is already set to work in most cases (50 ms). If DC synchro don't work and your computer is very slow, you can increase this value with a max of 90 ms.

Parameters

[in]

shift_time

shift time value in ms

set_primary_interface()

void ethercatcpp::Master::set_primary_interface

(

const std::string &

interface_primary

)

Set the primary network interface to the EtherCAT system (Master)

Parameters

[in]

interface_primary

name of network interface (ex: "eth0").

Examples

clipx_example.cpp, example_EL1018.cpp, example_EL1018_2008.cpp, example_EL2008.cpp, example_EL3104.cpp, example_EL3164.cpp, example_EL5101.cpp, shadow_one_hand.cpp, shadow_one_hand_torque.cpp, shadow_two_hands_mono.cpp, and shadow_two_hands_multi.cpp.

set_redundant_interface()

void ethercatcpp::Master::set_redundant_interface

(

const std::string &

interface_redundant

)

Set the secondary (redundant) network interface to the EtherCAT system (Master)

Parameters

[in]

interface_redundant

name of network interface (ex: "eth1").

Member Data Documentation

impl_

std::unique_ptr<Impl> ethercatcpp::Master::impl_

private

---

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

• master.h