This class describe the EtherCAT driver for Sensodrive sensojoint actuator. It allows to communicate with a "Sensodrive Sensojoint actuator" through an ethercat bus managed by an ethercatcpp master. More...

#include <sensojoint.h>

Inheritance diagram for ethercatcpp::SensoJoint:

Classes
struct	EndStop

struct	Options

Public Types
enum	control_mode_t { control_mode_t::monitor, control_mode_t::profile_position, control_mode_t::profile_velocity, control_mode_t::profile_torque, control_mode_t::cyclic_position, control_mode_t::cyclic_velocity, control_mode_t::cyclic_torque, control_mode_t::profile_output_position_vibration_damping, control_mode_t::profile_output_velocity, control_mode_t::cyclic_output_position_vibration_damping, control_mode_t::cyclic_output_velocity, control_mode_t::cyclic_output_torque }
	This enum define the possible "control modes" of the actuator. More...

enum	Model { MODEL_7016, MODEL_5016, MODEL_4010, MODEL_3010 }

enum	IOFlag { gpio_3_io_fpp_pin = 1 << 0, gpio_4_out_pin = 1 << 1, gpio_5_io_sbo_pin = 1 << 2, gpio_6_io_sbo_pin = 1 << 3 }
	Flag to ease setting the controlled/read GPIOS. More...

using	operation_state_t = CIA402Device::state_t

Public Types inherited from ethercatcpp::coe::cia402::CIA402Device
enum	state_t { unknown_state, not_ready_to_switch_on, switch_on_disabled, ready_to_switch_on, switched_on, operation_enabled, quick_stop_active, fault_reaction_active, faulty }
	Possible state of a CiA402 device state machine. More...

enum	control_t { shutdown, switch_on, switch_on_and_enable_op, disable_voltage, quickstop, disable_op, enable_op, fault_reset_op }
	Possible control over a CiA402 device state machine. 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
virtual bool	profile_mode () const override

virtual bool	cyclic_mode () const override

virtual bool	position_mode () const override

virtual bool	velocity_mode () const override

virtual bool	torque_mode () const override

virtual bool	profile_mode_queried () const override

virtual bool	cyclic_mode_queried () const override

virtual bool	position_mode_queried () const override

virtual bool	velocity_mode_queried () const override

virtual bool	torque_mode_queried () const override

	SensoJoint (const Model &model)
	Constructor of SensoJoint class. More...

	SensoJoint (const Model &model, const Options &options)

	SensoJoint (const SensoJoint &)=delete

	SensoJoint (SensoJoint &&)=delete

SensoJoint &	operator= (const SensoJoint &)=delete

SensoJoint &	operator= (SensoJoint &&)=delete

virtual	~SensoJoint ()

void	set_target_position (double target_position)
	Function used to set the target position when device is command in position mode. More...

void	set_target_velocity (double target_velocity)
	Function used to set the target velocity when device is command in velocity mode. More...

void	set_target_output_torque (double target_torque)
	Function used to set the target torque on output shaft when device is command in output or basic torque modes. More...

void	set_target_motor_torque (double target_torque)
	Function used to set the target motor torque when device is command in basic torque mode. More...

void	set_motor_torque_feedforward (double torque_offset)
	Function used to set the motor torque offset. More...

void	set_output_torque_feedforward (double torque_offset)
	Function used to set the output torque offset. More...

void	set_external_load_torque_offset (double offset)
	Set value of external load torque offset (gravity) More...

void	set_velocity_feedforward (double velocity_offset)
	Function used to set the velocity offset. More...

bool	set_control_mode (control_mode_t control_mode)
	Select the desired control mode. More...

control_mode_t	control_mode () const
	Get current control mode used inside device. More...

std::string_view	control_mode_str () const
	Get current control mode used inside device as a string. More...

double	position () const
	Get actual motor position in radians. More...

double	velocity () const
	Get actual motor velocity in radians per second. More...

double	motor_torque () const
	Get actual motor torque in newton meter. More...

double	motor_current () const
	Get actual motor current in A. More...

double	output_torque () const
	Get actual output torque in newton meter (Nm). More...

double	friction_torque () const
	Get actual friction torque in newton meter (Nm). More...

double	motor_temperature () const
	Get actual motor temperature in degrees celsius (°C). More...

double	drive_temperature () const
	Get actual drive temperature in degrees celsius (°C). More...

double	sensor_temperature () const
	Get actual torque sensor temperature in degrees celsius (°C). More...

bool	following_error () const
	In profile modes tell whether there is a following error. More...

bool	standstill () const
	In profile velocity modes tell whether the motor is standstill. More...

bool	sto_active () const
	Check whether STO(Safe torque off) security has been triggerred. More...

bool	sbc_active () const
	Check whether SBC(Safe braque control) security has been triggerred. More...

bool	brake_applied () const
	Tell whether Sensojoint brake is applied. More...

const Options &	options () const
	Get options used in the Sensojoint. More...

const std::string &	fault () const
	Get last fault description. More...

uint16_t	error_code () const
	Get last error code. More...

bool	warning () const
	check if a warning is currently emitted. More...

void	set_spring (double neutral_position, double stiffness, double damping)
	Set value of spring haptics effect parameters in advanced torque controller. More...

void	set_digital_outputs (uint8_t outputs)
	Set value of digital outputs. More...

uint8_t	digital_inputs () const
	Get value of digital inputs. More...

double	initial_position () const
	Get the theoric initial position from drive configuration. More...

Public Member Functions inherited from ethercatcpp::coe::cia402::CIA402Device
	CIA402Device (uint16_t &control_word, uint16_t &status_word, int8_t &mode_set, int8_t &mode_read)

	CIA402Device ()

virtual	~CIA402Device ()

state_t	operation_state () const
	get current state of the device. More...

std::string_view	operation_state_str () const
	get string representation of current state of the device. More...

void	acknowledge_fault ()
	Acknowledge fault and reset faulty status. More...

void	quick_stop ()
	Launch the quick stop procedure. More...

bool	voltage_enabled () const
	Tell whether device is powered with high voltage. More...

bool	fault_alert () const
	Tell whether device reports an error. More...

bool	warning_alert () const
	Tell whether device reports a warning. More...

bool	is_configurable () const
	Tell whether the sensojoint can be immediately configured. More...

bool	process_state ()
	Perform adequate operations depending on state. More...

void	startup ()
	Make sensojoint controlable and control mode cannot be changed. More...

void	finish ()
	Put the sensojoint is a safe, configuration possible, state. More...

void	pause (bool doit)
	State transition is paused/unpaused. More...

bool	active () const
	Tell whether the sensojoint is active (is running or will run commands) or not (is or will be in a safe state, where control mode can be configured) More...

bool	paused () const
	Tell whether the device state transition is paused. More...

bool	target_reached () const
	Tell whether the target given by a profile mode has been reached. More...

bool	manage_new_setpoint ()
	Make the controller manage a new setpoint (e.g. value of target position). Only in profile mode. More...

bool	motion_halted () const
	Tell whether motion generated by a profile mode is halted. More...

void	halt_motion (bool choice)
	Halt motor axle, only in profile mode. More...

bool	new_setpoint_following () const
	Tell whether a new set point is tracked. Only in profile position mode. More...

bool	internal_limit () const
	In profile modes tell whether there is an internal limit has been reached. More...

void	reset_fault ()
	Reset fault so that the device can start again. 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 ()

Static Public Member Functions
static SensoJoint::Options	gen_options (double control_period, double min_target_pos, double max_target_pos)

static bool	is_advanced_mode (control_mode_t)

static bool	is_profile_mode (control_mode_t)

static bool	is_cyclic_mode (control_mode_t)

static bool	is_position_mode (control_mode_t)

static bool	is_velocity_mode (control_mode_t)

static bool	is_torque_mode (control_mode_t)

static std::string_view	control_mode_to_str (control_mode_t)
	convert the operation state into a human readable information More...

Static Public Member Functions inherited from ethercatcpp::coe::cia402::CIA402Device
static void	set_control_word (uint16_t &controlword, control_t ctrl)
	Set the control word of a CiA402 device according to the desired control state. More...

static state_t	operation_state (uint16_t statusword)
	Get the current state according to the data in the statusword. More...

static std::string_view	operation_state_to_str (state_t)
	convert the operation state into a human readable information More...

static std::string_view	control_mode_to_str (int8_t)
	convert the control mode into a human readable information More...

Static Protected Member Functions
static bool	advanced_mode (int8_t)

static bool	profile_mode (int8_t)

static bool	cyclic_mode (int8_t)

static bool	position_mode (int8_t)

static bool	velocity_mode (int8_t)

static bool	torque_mode (int8_t)

Static Protected Member Functions inherited from ethercatcpp::coe::cia402::CIA402Device
static bool	profile_mode (int8_t)

static bool	cyclic_mode (int8_t)

static bool	position_mode (int8_t)

static bool	velocity_mode (int8_t)

static bool	torque_mode (int8_t)

Private Member Functions
void	initialize (const std::optional< Options > &options)

void	pdo_maps_configuration ()

void	unpack_status_buffer ()

void	update_internal_state ()

void	read_base_units_values ()

void	find_initial_position ()

void	manage_ctrl_params (const std::optional< Options > &options)

void	bind_buffers ()

void	manage_control_period (const std::optional< Options > &options)

void	manage_torque_slope (const std::optional< Options > &options)

void	manage_torque_offset (const std::optional< Options > &options)

void	manage_position_offset (const std::optional< Options > &options)

void	manage_max_output_torque ()

void	manage_max_output_velocity ()

void	manage_max_motor_torque ()

void	manage_max_motor_current ()

void	manage_max_motor_velocity ()

void	manage_user_max_motor_torque (const std::optional< Options > &options)

void	manage_user_max_motor_velocity (const std::optional< Options > &options)

void	manage_user_position_limits (const std::optional< Options > &options)

void	manage_quickstop_config (const std::optional< Options > &options)

void	manage_profile_config (const std::optional< Options > &options)

void	manage_endstop_config (const std::optional< Options > &options)

void	manage_digital_ios (const std::optional< Options > &options)

void	manage_digital_ios_end ()

void	manage_torque_based_quick_stop ()

void	force_target_output_torque (double target_torque)

void	force_target_motor_torque (double target_torque)

Static Private Member Functions
static int8_t	control_mode_to_code (control_mode_t)

static control_mode_t	control_code_to_mode (int8_t)

static bool	can_swap_mode (control_mode_t current, control_mode_t next)

Private Attributes
Options	options_

Model	model_

std::unique_ptr< OpaqueStateCommands >	sta_cmd_

std::unique_ptr< InternalParameters >	internal_parameters_

std::unique_ptr< ConversionRatios >	conversion_

Static Private Attributes
static const std::map< int8_t, std::string_view >	control_mode_decode_

Additional Inherited Members
Static Public Attributes inherited from ethercatcpp::coe::cia402::CIA402Device
static constexpr const uint16_t	controlword_addr = 0x6040

static constexpr const uint16_t	statusword_addr = 0x6041

static constexpr const uint16_t	set_modes_of_operation_addr = 0x6060

static constexpr const uint16_t	get_modes_of_operation_addr = 0x6061

static constexpr const uint16_t	not_ready_to_switch_on_code = 0x0000

static constexpr const uint16_t	switch_on_disabled_code = 0x0040

static constexpr const uint16_t	ready_to_switch_on_code = 0x0021

static constexpr const uint16_t	switched_on_code = 0x0023

static constexpr const uint16_t	operation_enabled_code = 0x0027

static constexpr const uint16_t	quick_stop_active_code = 0x0007

static constexpr const uint16_t	fault_reaction_active_code = 0x000F

static constexpr const uint16_t	fault_code = 0x0008

static constexpr const int8_t	monitor_mode = 0

static constexpr const int8_t	PP_mode = 1
	Profile position. More...

static constexpr const int8_t	PV_mode = 3
	Profile velocity. More...

static constexpr const int8_t	PT_mode = 4
	Profile torque. More...

static constexpr const int8_t	HOMING_mode = 6
	Homing. More...

static constexpr const int8_t	IP_mode = 7
	Profile interpolated. More...

static constexpr const int8_t	CSP_mode = 8
	Cyclic synchronous position. More...

static constexpr const int8_t	CSV_mode = 9
	Cyclic synchronous velocity. More...

static constexpr const int8_t	CST_mode = 10
	Cyclic synchronous torque. More...

static const std::map< state_t, std::string_view >	device_state_decode_

Protected Member Functions inherited from ethercatcpp::coe::cia402::CIA402Device
void	set_operation_state (control_t state)
	Function used to change the state of device. More...

void	set_quick_stop_reaction (std::function< void()> reaction)
	Set the quick stop reaction function called when a quick stop procedure starts. More...

void	set_leaving_enable_requires_quick_stop (std::function< bool()> check_quick_stop)
	Set the check function called when device leaves the operation enabled state. More...

void	set_entering_enable_reaction (std::function< bool()> reaction)
	Set the reaction function called when device enters the operation enabled state. More...

void	set_entering_switchon_reaction (std::function< void()> reaction)
	Set the reaction function called when device enters the switched on state. More...

void	set_entering_disabled_reaction (std::function< void()> reaction)
	Set the reaction function called when device enters the switched on disabled state. More...

void	initialize_state_variables (uint16_t &control_word, uint16_t &status_word, int8_t &mode_set, int8_t &mode_read)
	Set the variables used to control the state machine. More...

void	initialize_state_variables (uint16_t control_word, uint16_t status_word, int8_t mode_set, int8_t mode_read)
	Set the variables used to control the state machine. More...

void	initialize_state_variables (uint8_t control_word_addr, uint8_t status_word_addr, uint8_t mode_set_addr, uint8_t mode_read_addr)
	Set the variables used to control the state machine. More...

int8_t	current_control_mode () const
	Utility function for implementing the control_mode() function of derived classes. More...

void	device_state_termination ()
	Performs operations supposed to put the device in a safe state. More...

void	device_state_initialization ()
	Performs operations supposed to put the device in a safe state. More...

void	managed_set_point ()
	Ask the device to take into account the new set point given. Only in profile position modes. More...

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

Static Protected Attributes inherited from ethercatcpp::coe::cia402::CIA402Device
static const std::map< int8_t, std::string_view >	std_control_mode_str

Detailed Description

This class describe the EtherCAT driver for Sensodrive sensojoint actuator. It allows to communicate with a "Sensodrive Sensojoint actuator" through an ethercat bus managed by an ethercatcpp master.

Member Typedef Documentation

◆ operation_state_t

using ethercatcpp::SensoJoint::operation_state_t = CIA402Device::state_t

Member Enumeration Documentation

◆ control_mode_t

enum ethercatcpp::SensoJoint::control_mode_t

strong

This enum define the possible "control modes" of the actuator.

Enumerator
monitor
profile_position
profile_velocity
profile_torque
cyclic_position
cyclic_velocity
cyclic_torque
profile_output_position_vibration_damping
profile_output_velocity
cyclic_output_position_vibration_damping
cyclic_output_velocity
cyclic_output_torque

◆ IOFlag

enum ethercatcpp::SensoJoint::IOFlag

Flag to ease setting the controlled/read GPIOS.

only 4 usable GPIOs in the sensojoint (=> only 4 first bits used in flags)

Enumerator
gpio_3_io_fpp_pin
gpio_4_out_pin
gpio_5_io_sbo_pin
gpio_6_io_sbo_pin

◆ Model

enum ethercatcpp::SensoJoint::Model

Enumerator
MODEL_7016
MODEL_5016
MODEL_4010
MODEL_3010

Constructor & Destructor Documentation

◆ SensoJoint() [1/4]

ethercatcpp::SensoJoint::SensoJoint ( const Model & model )

Constructor of SensoJoint class.

◆ SensoJoint() [2/4]

ethercatcpp::SensoJoint::SensoJoint	(	const Model &	model,
		const Options &	options
	)

◆ SensoJoint() [3/4]

ethercatcpp::SensoJoint::SensoJoint ( const SensoJoint & )

delete

◆ SensoJoint() [4/4]

ethercatcpp::SensoJoint::SensoJoint ( SensoJoint && )

delete

◆ ~SensoJoint()

virtual ethercatcpp::SensoJoint::~SensoJoint ( )

virtual

Member Function Documentation

◆ advanced_mode()

static bool ethercatcpp::SensoJoint::advanced_mode ( int8_t )

staticprotected

◆ bind_buffers()

void ethercatcpp::SensoJoint::bind_buffers ( )

private

◆ brake_applied()

bool ethercatcpp::SensoJoint::brake_applied ( ) const

Tell whether Sensojoint brake is applied.

Returns: true if brake applied (joint cannot move), false otherwise

◆ can_swap_mode()

static bool ethercatcpp::SensoJoint::can_swap_mode	(	control_mode_t	current,
		control_mode_t	next
	)

staticprivate

◆ control_code_to_mode()

static control_mode_t ethercatcpp::SensoJoint::control_code_to_mode ( int8_t )

staticprivate

◆ control_mode()

control_mode_t ethercatcpp::SensoJoint::control_mode ( ) const

Get current control mode used inside device.

Returns: the current control mode

◆ control_mode_str()

std::string_view ethercatcpp::SensoJoint::control_mode_str ( ) const

Get current control mode used inside device as a string.

Returns: explicit actual control mode like in "control_mode_t"

◆ control_mode_to_code()

static int8_t ethercatcpp::SensoJoint::control_mode_to_code ( control_mode_t )

staticprivate

◆ control_mode_to_str()

static std::string_view ethercatcpp::SensoJoint::control_mode_to_str ( control_mode_t )

static

convert the operation state into a human readable information

Returns: std::string

◆ cyclic_mode() [1/2]

virtual bool ethercatcpp::SensoJoint::cyclic_mode ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ cyclic_mode() [2/2]

static bool ethercatcpp::SensoJoint::cyclic_mode ( int8_t )

staticprotected

◆ cyclic_mode_queried()

virtual bool ethercatcpp::SensoJoint::cyclic_mode_queried ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ digital_inputs()

uint8_t ethercatcpp::SensoJoint::digital_inputs ( ) const

Get value of digital inputs.

only bits "0000 1101" are meaningfull, corresponding to GPIOs 3,5,6 (from rightmost to leftmost bit => 1101 == 6 5 _ 3)

you can use IOFlags to check status of corresponding inputs

Returns: digital inputs bitset value (1 for High, 0 for Low)

◆ drive_temperature()

double ethercatcpp::SensoJoint::drive_temperature ( ) const

Get actual drive temperature in degrees celsius (°C).

Returns: drive current temperature

◆ error_code()

uint16_t ethercatcpp::SensoJoint::error_code ( ) const

Get last error code.

See also: fault()

◆ fault()

const std::string& ethercatcpp::SensoJoint::fault ( ) const

Get last fault description.

Returns: the string explaining the fault

See also: fault_type()

◆ find_initial_position()

void ethercatcpp::SensoJoint::find_initial_position ( )

private

◆ following_error()

bool ethercatcpp::SensoJoint::following_error ( ) const

In profile modes tell whether there is a following error.

Returns: true if there is a following error false otherwise

◆ force_target_motor_torque()

void ethercatcpp::SensoJoint::force_target_motor_torque ( double target_torque )

private

◆ force_target_output_torque()

void ethercatcpp::SensoJoint::force_target_output_torque ( double target_torque )

private

◆ friction_torque()

double ethercatcpp::SensoJoint::friction_torque ( ) const

Get actual friction torque in newton meter (Nm).

Returns: torque value

◆ gen_options()

static SensoJoint::Options ethercatcpp::SensoJoint::gen_options	(	double	control_period,
		double	min_target_pos,
		double	max_target_pos
	)

static

◆ initial_position()

double ethercatcpp::SensoJoint::initial_position ( ) const

Get the theoric initial position from drive configuration.

Returns: the initial position

◆ initialize()

void ethercatcpp::SensoJoint::initialize ( const std::optional< Options > & options )

private

◆ is_advanced_mode()

static bool ethercatcpp::SensoJoint::is_advanced_mode ( control_mode_t )

static

◆ is_cyclic_mode()

static bool ethercatcpp::SensoJoint::is_cyclic_mode ( control_mode_t )

static

◆ is_position_mode()

static bool ethercatcpp::SensoJoint::is_position_mode ( control_mode_t )

static

◆ is_profile_mode()

static bool ethercatcpp::SensoJoint::is_profile_mode ( control_mode_t )

static

◆ is_torque_mode()

static bool ethercatcpp::SensoJoint::is_torque_mode ( control_mode_t )

static

◆ is_velocity_mode()

static bool ethercatcpp::SensoJoint::is_velocity_mode ( control_mode_t )

static

◆ manage_control_period()

void ethercatcpp::SensoJoint::manage_control_period ( const std::optional< Options > & options )

private

◆ manage_ctrl_params()

void ethercatcpp::SensoJoint::manage_ctrl_params ( const std::optional< Options > & options )

private

◆ manage_digital_ios()

void ethercatcpp::SensoJoint::manage_digital_ios ( const std::optional< Options > & options )

private

◆ manage_digital_ios_end()

void ethercatcpp::SensoJoint::manage_digital_ios_end ( )

private

◆ manage_endstop_config()

void ethercatcpp::SensoJoint::manage_endstop_config ( const std::optional< Options > & options )

private

◆ manage_max_motor_current()

void ethercatcpp::SensoJoint::manage_max_motor_current ( )

private

◆ manage_max_motor_torque()

void ethercatcpp::SensoJoint::manage_max_motor_torque ( )

private

◆ manage_max_motor_velocity()

void ethercatcpp::SensoJoint::manage_max_motor_velocity ( )

private

◆ manage_max_output_torque()

void ethercatcpp::SensoJoint::manage_max_output_torque ( )

private

◆ manage_max_output_velocity()

void ethercatcpp::SensoJoint::manage_max_output_velocity ( )

private

◆ manage_position_offset()

void ethercatcpp::SensoJoint::manage_position_offset ( const std::optional< Options > & options )

private

◆ manage_profile_config()

void ethercatcpp::SensoJoint::manage_profile_config ( const std::optional< Options > & options )

private

◆ manage_quickstop_config()

void ethercatcpp::SensoJoint::manage_quickstop_config ( const std::optional< Options > & options )

private

◆ manage_torque_based_quick_stop()

void ethercatcpp::SensoJoint::manage_torque_based_quick_stop ( )

private

◆ manage_torque_offset()

void ethercatcpp::SensoJoint::manage_torque_offset ( const std::optional< Options > & options )

private

◆ manage_torque_slope()

void ethercatcpp::SensoJoint::manage_torque_slope ( const std::optional< Options > & options )

private

◆ manage_user_max_motor_torque()

void ethercatcpp::SensoJoint::manage_user_max_motor_torque ( const std::optional< Options > & options )

private

◆ manage_user_max_motor_velocity()

void ethercatcpp::SensoJoint::manage_user_max_motor_velocity ( const std::optional< Options > & options )

private

◆ manage_user_position_limits()

void ethercatcpp::SensoJoint::manage_user_position_limits ( const std::optional< Options > & options )

private

◆ motor_current()

double ethercatcpp::SensoJoint::motor_current ( ) const

Get actual motor current in A.

Returns: motor current value

◆ motor_temperature()

double ethercatcpp::SensoJoint::motor_temperature ( ) const

Get actual motor temperature in degrees celsius (°C).

Returns: motor current temperature

◆ motor_torque()

double ethercatcpp::SensoJoint::motor_torque ( ) const

Get actual motor torque in newton meter.

Returns: torque value

◆ operator=() [1/2]

SensoJoint& ethercatcpp::SensoJoint::operator= ( const SensoJoint & )

delete

◆ operator=() [2/2]

SensoJoint& ethercatcpp::SensoJoint::operator= ( SensoJoint && )

delete

◆ options()

const Options& ethercatcpp::SensoJoint::options ( ) const

Get options used in the Sensojoint.

Returns: reference on the option object

◆ output_torque()

double ethercatcpp::SensoJoint::output_torque ( ) const

Get actual output torque in newton meter (Nm).

Returns: torque value

◆ pdo_maps_configuration()

void ethercatcpp::SensoJoint::pdo_maps_configuration ( )

private

◆ position()

double ethercatcpp::SensoJoint::position ( ) const

Get actual motor position in radians.

Returns: position value

◆ position_mode() [1/2]

virtual bool ethercatcpp::SensoJoint::position_mode ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ position_mode() [2/2]

static bool ethercatcpp::SensoJoint::position_mode ( int8_t )

staticprotected

◆ position_mode_queried()

virtual bool ethercatcpp::SensoJoint::position_mode_queried ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ profile_mode() [1/2]

virtual bool ethercatcpp::SensoJoint::profile_mode ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ profile_mode() [2/2]

static bool ethercatcpp::SensoJoint::profile_mode ( int8_t )

staticprotected

◆ profile_mode_queried()

virtual bool ethercatcpp::SensoJoint::profile_mode_queried ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ read_base_units_values()

void ethercatcpp::SensoJoint::read_base_units_values ( )

private

◆ sbc_active()

bool ethercatcpp::SensoJoint::sbc_active ( ) const

Check whether SBC(Safe braque control) security has been triggerred.

Returns: TRUE when SBC triggerred, FALSE otherwise

◆ sensor_temperature()

double ethercatcpp::SensoJoint::sensor_temperature ( ) const

Get actual torque sensor temperature in degrees celsius (°C).

Returns: torque sensor current temperature

◆ set_control_mode()

bool ethercatcpp::SensoJoint::set_control_mode ( control_mode_t control_mode )

Select the desired control mode.

Parameters

[in] control_mode is the desired control mode

Returns: true if mode has changed, false otherwise

◆ set_digital_outputs()

void ethercatcpp::SensoJoint::set_digital_outputs ( uint8_t outputs )

Set value of digital outputs.

only 4 first bits (0000 1111) are used, corresponding to GPIOs 3,4,5,6 (from rightmost to leftmost bit => 1111 == 6 5 4 3)

you can use IOFlags to set the output values

Parameters

outputs bitset value of digital outputs (1 for High, 0 for Low)

◆ set_external_load_torque_offset()

void ethercatcpp::SensoJoint::set_external_load_torque_offset ( double offset )

Set value of external load torque offset (gravity)

Parameters

offset additional torque due to gravity (to be compensated)

◆ set_motor_torque_feedforward()

void ethercatcpp::SensoJoint::set_motor_torque_feedforward ( double torque_offset )

Function used to set the motor torque offset.

Set the torque feedforward offset for the torque value. In Cyclic Synchronous Position Mode and Cyclic Synchronous Velocity Mode, the object contains the input value for torque feed forward. In Cyclic Synchronous Torque Mode, it contains the commanded additive torque of the drive, which is added to the Target Torque value. unit: Newton meter (Nm) .

Parameters

[in] torque_offset is the torque offset desired

◆ set_output_torque_feedforward()

void ethercatcpp::SensoJoint::set_output_torque_feedforward ( double torque_offset )

Function used to set the output torque offset.

Same as set_motor_torque_feedforward but the input is expressed in desired output torque and converted to desired motor torque

Parameters

[in] torque_offset is the desired output torque offset

See also: set_motor_torque_feedforward

◆ set_spring()

void ethercatcpp::SensoJoint::set_spring	(	double	neutral_position,
		double	stiffness,
		double	damping
	)

Set value of spring haptics effect parameters in advanced torque controller.

Parameters

neutral_position	of spring
stiffness	of spring
damping	of spring

◆ set_target_motor_torque()

void ethercatcpp::SensoJoint::set_target_motor_torque ( double target_torque )

Function used to set the target motor torque when device is command in basic torque mode.

unit: Newton meter (Nm).

Parameters

[in] target_torque is the torque desired

◆ set_target_output_torque()

void ethercatcpp::SensoJoint::set_target_output_torque ( double target_torque )

Function used to set the target torque on output shaft when device is command in output or basic torque modes.

unit: Newton meter (Nm).

Parameters

[in] target_torque is the torque desired

◆ set_target_position()

void ethercatcpp::SensoJoint::set_target_position ( double target_position )

Function used to set the target position when device is command in position mode.

unit: radian (rad).

Parameters

[in] target_position is the position desired

◆ set_target_velocity()

void ethercatcpp::SensoJoint::set_target_velocity ( double target_velocity )

Function used to set the target velocity when device is command in velocity mode.

unit: radian per second (rad/s) .

Parameters

[in] target_velocity is the velocity desired

◆ set_velocity_feedforward()

void ethercatcpp::SensoJoint::set_velocity_feedforward ( double velocity_offset )

Function used to set the velocity offset.

Provides the feedforward offset of the velocity value. In Cyclic Synchronous Position Mode, this object contains the input value for velocity feed forward. In Cyclic Synchronous Velocity Mode, it contains the commanded offset of the drive device. unit: radian (rad per second).

Parameters

[in] velocity_offset is the velocity offset desired

◆ standstill()

bool ethercatcpp::SensoJoint::standstill ( ) const

In profile velocity modes tell whether the motor is standstill.

Returns: true if standstill false otherwise

◆ sto_active()

bool ethercatcpp::SensoJoint::sto_active ( ) const

Check whether STO(Safe torque off) security has been triggerred.

Returns: TRUE when STO triggerred, FALSE otherwise

◆ torque_mode() [1/2]

virtual bool ethercatcpp::SensoJoint::torque_mode ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ torque_mode() [2/2]

static bool ethercatcpp::SensoJoint::torque_mode ( int8_t )

staticprotected

◆ torque_mode_queried()

virtual bool ethercatcpp::SensoJoint::torque_mode_queried ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ unpack_status_buffer()

void ethercatcpp::SensoJoint::unpack_status_buffer ( )

private

◆ update_internal_state()

void ethercatcpp::SensoJoint::update_internal_state ( )

private

◆ velocity()

double ethercatcpp::SensoJoint::velocity ( ) const

Get actual motor velocity in radians per second.

Returns: velocity value

◆ velocity_mode() [1/2]

virtual bool ethercatcpp::SensoJoint::velocity_mode ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ velocity_mode() [2/2]

static bool ethercatcpp::SensoJoint::velocity_mode ( int8_t )

staticprotected

◆ velocity_mode_queried()

virtual bool ethercatcpp::SensoJoint::velocity_mode_queried ( ) const

overridevirtual

Reimplemented from ethercatcpp::coe::cia402::CIA402Device.

◆ warning()

bool ethercatcpp::SensoJoint::warning ( ) const

check if a warning is currently emitted.

See also: fault()

Member Data Documentation

◆ control_mode_decode_

const std::map<int8_t, std::string_view> ethercatcpp::SensoJoint::control_mode_decode_

staticprivate

◆ conversion_

std::unique_ptr<ConversionRatios> ethercatcpp::SensoJoint::conversion_

private

◆ internal_parameters_

std::unique_ptr<InternalParameters> ethercatcpp::SensoJoint::internal_parameters_

private

◆ model_

Model ethercatcpp::SensoJoint::model_

private

◆ options_

Options ethercatcpp::SensoJoint::options_

private

◆ sta_cmd_

std::unique_ptr<OpaqueStateCommands> ethercatcpp::SensoJoint::sta_cmd_

private

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

sensojoint.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ operation_state_t

Member Enumeration Documentation

◆ control_mode_t

◆ IOFlag

◆ Model

Constructor & Destructor Documentation

◆ SensoJoint() [1/4]

◆ SensoJoint() [2/4]

◆ SensoJoint() [3/4]

◆ SensoJoint() [4/4]

◆ ~SensoJoint()

Member Function Documentation

◆ advanced_mode()

◆ bind_buffers()

◆ brake_applied()

◆ can_swap_mode()

◆ control_code_to_mode()

◆ control_mode()

◆ control_mode_str()

◆ control_mode_to_code()

◆ control_mode_to_str()

◆ cyclic_mode() [1/2]

◆ cyclic_mode() [2/2]

◆ cyclic_mode_queried()

◆ digital_inputs()

◆ drive_temperature()

◆ error_code()

◆ fault()

◆ find_initial_position()

◆ following_error()

◆ force_target_motor_torque()

◆ force_target_output_torque()

◆ friction_torque()

◆ gen_options()

◆ initial_position()

◆ initialize()

◆ is_advanced_mode()

◆ is_cyclic_mode()

◆ is_position_mode()

◆ is_profile_mode()

◆ is_torque_mode()

◆ is_velocity_mode()

◆ manage_control_period()

◆ manage_ctrl_params()

◆ manage_digital_ios()

◆ manage_digital_ios_end()

◆ manage_endstop_config()

◆ manage_max_motor_current()

◆ manage_max_motor_torque()

◆ manage_max_motor_velocity()

◆ manage_max_output_torque()

◆ manage_max_output_velocity()

◆ manage_position_offset()

◆ manage_profile_config()

◆ manage_quickstop_config()

◆ manage_torque_based_quick_stop()

◆ manage_torque_offset()

◆ manage_torque_slope()

◆ manage_user_max_motor_torque()

◆ manage_user_max_motor_velocity()

◆ manage_user_position_limits()

◆ motor_current()

◆ motor_temperature()

◆ motor_torque()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ options()

◆ output_torque()