Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions are implemented according to the CiA 402 Standard (but can be overridden) More...

#include <Drive.h>

Inheritance diagram for Drive:

Collaboration diagram for Drive:

Public Member Functions
	Drive ()
	Construct a new Drive object. More...

	Drive (int NodeID)
	Construct a new Drive object. More...

virtual	~Drive ()
	Destroy the Drive object. More...

virtual bool	Init ()=0
	Initialises the drive (SDO start message) More...

virtual bool	initPDOs ()
	Initialises a standard set of PDOs for the use of the drive. These are: More...

virtual bool	initPosControl (motorProfile posControlMotorProfile)=0

virtual bool	initVelControl ()=0

virtual bool	initTorqControl ()=0

virtual int	updateDriveStatus ()

virtual bool	setPos (int position)

virtual bool	setVel (int velocity)

virtual bool	setTorque (int torque)

virtual int	getPos ()

virtual int	getVel ()

virtual int	getTorque ()

virtual bool	readyToSwitchOn ()
	Changes the state of the drive to "ready to switch on". More...

virtual bool	enable ()
	Sets the state of the drive to "enabled". More...

virtual bool	disable ()
	sets the state of the drive to "disabled" More...

virtual bool	posControlConfirmSP ()
	Flips Bit 4 of Control Word (0x6041) - A new set point is only confirmed if the transition is from 0 to 1. More...

virtual DriveState	getDriveState ()
	Get the current state of the drive. More...

int	getNodeID ()
	Get returns the CanNode ID. More...

Protected Member Functions
std::vector< std::string >	generateTPDOConfigSDO (std::vector< OD_Entry_t > items, int PDO_Num, int SyncRate)
	Generates the list of commands required to configure TPDOs on the drives. More...

std::vector< std::string >	generateRPDOConfigSDO (std::vector< OD_Entry_t > items, int PDO_Num, int UpdateTiming)
	Generates the list of commands required to configure RPDOs on the drives. More...

std::vector< std::string >	generatePosControlConfigSDO (motorProfile positionProfile)
	Generates the list of commands required to configure Position control in CANopen motor drive. More...

int	sendSDOMessages (std::vector< std::string > messages)
	messages Properly formatted SDO Messages More...

Protected Attributes
int	NodeID
	The CAN Node ID used to address this particular drive on the CAN bus. More...

Private Attributes
int	statusWord
	Current status word of the drive. More...

int	error
	Current error state of the drive. More...

DriveState	driveState = DISABLED
	State of the drive. More...

ControlMode	controlMode = UNCONFIGURED
	The mode in which the drive is currently configured. More...

Detailed Description

Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions are implemented according to the CiA 402 Standard (but can be overridden)

Definition at line 93 of file Drive.h.

Constructor & Destructor Documentation

Drive::Drive ( )

Construct a new Drive object.

Definition at line 5 of file Drive.cpp.

Drive::Drive ( int NodeID )

Construct a new Drive object.

Parameters

NodeID the CANopen Node ID of this drive

Definition at line 11 of file Drive.cpp.

virtual Drive::~Drive ( )

virtual

Destroy the Drive object.

Definition at line 190 of file Drive.h.

Member Function Documentation

bool Drive::disable ( )

virtual

sets the state of the drive to "disabled"

This is equivalent to setting the control word (0x06064) to 0 See also the CANopen Programmer's Manual (from Copley Controls)

Returns: true if operation successful; false if operation unsuccessful

Definition at line 60 of file Drive.cpp.

bool Drive::enable ( )

virtual

Sets the state of the drive to "enabled".

This is equivalent to setting bits 0, 1, 2, 3 of the control word (0x06064) to 1 See also the CANopen Programmer's Manual (from Copley Controls)

Returns: true if operation successful; false if operation unsuccessful

Definition at line 55 of file Drive.cpp.

std::vector< std::string > Drive::generatePosControlConfigSDO ( motorProfile positionProfile )

protected

Generates the list of commands required to configure Position control in CANopen motor drive.

Parameters

Profile	Velocity, value used by position mode motor trajectory generator. Units: 0.1 counts/sec Range:0 - 500,000,000
Profile	Acceleration, value position mode motor trajectory generator will attempt to achieve. Units: 10 counts/sec^2 Range:0 - 200,000,000
Profile	Deceleration, value position mode motor trajectory generator will use at end of trapezoidal profile. see programmers manual for other profile types use. Units: 10 counts/sec^2 Range:0 - 200,000,000

NOTE: More details on params and profiles can be found in the CANopne CiA 402 series specifications: https://www.can-cia.org/can-knowledge/canopen/cia402/

Definition at line 198 of file Drive.cpp.

std::vector< std::string > Drive::generateRPDOConfigSDO	(	std::vector< OD_Entry_t >	items,
		int	PDO_Num,
		int	UpdateTiming
	)

protected

Generates the list of commands required to configure RPDOs on the drives.

Parameters

items	A list of OD_Entry_t items which are to be configured with this RPDO
PDO_Num	The number/index of this PDO
UpdateTiming	0-240 represents hold until next sync message, 0xFF represents immediate update

Returns: std::string

Definition at line 151 of file Drive.cpp.

std::vector< std::string > Drive::generateTPDOConfigSDO	(	std::vector< OD_Entry_t >	items,
		int	PDO_Num,
		int	SyncRate
	)

protected

Generates the list of commands required to configure TPDOs on the drives.

Parameters

items	A list of OD_Entry_t items which are to be configured with this TPDO
PDO_Num	The number/index of this PDO
SyncRate	The rate at which this PDO transmits (e.g. number of Sync Messages. 0xFF represents internal trigger event)

Returns: std::string

Definition at line 104 of file Drive.cpp.

DriveState Drive::getDriveState ( )

virtual

Get the current state of the drive.

Returns: DriveState

Definition at line 65 of file Drive.cpp.

int Drive::getNodeID ( )

Get returns the CanNode ID.

Returns: int the Node ID

Definition at line 17 of file Drive.cpp.

int Drive::getPos ( )

virtual

Returns the current position from the motor drive (0x6064)

Returns: Position from the motor drive

Definition at line 37 of file Drive.cpp.

int Drive::getTorque ( )

virtual

Returns the current torque from the motor drive (0x6077)

Returns: Torque from the motor drive

Definition at line 46 of file Drive.cpp.

int Drive::getVel ( )

virtual

Returns the current velocity from the motor drive (0x606C)

Returns: Velocity from the motor drive

Definition at line 42 of file Drive.cpp.

virtual bool Drive::Init ( )

pure virtual

Initialises the drive (SDO start message)

Returns: True if successful, False if not

Implemented in CopleyDrive.

bool Drive::initPDOs ( )

virtual

Initialises a standard set of PDOs for the use of the drive. These are:

TPDO1: COB-ID 180+{NODE-ID}: Status Word (0x6041), Send on Internal Event Trigger TPDO2: COB-ID 280+{NODE-ID}: Actual Position (0x6064), Actual Velocity (0x606C), Sent every SYNC Message TPDO3: COB-ID 380+{NODE-ID}: Actual Torque (0x607C), Sent every SYNC MEssage

RPDO1: COB-ID 300+{NODE-ID}: Target Position (0x607A), Applied immediately when received RPDO2: COB-ID 400+{NODE-ID}: Target Velocity (0x60FF), Applied immediately when received

Returns: true; false

Definition at line 84 of file Drive.cpp.

virtual bool Drive::initPosControl ( motorProfile posControlMotorProfile )

pure virtual

Sets the drive to Position control with set parameters (through SDO messages)

Note: Should be overloaded to allow parameters to be set

Parameters

motorProfile The position control motor profile to be used

Returns: true if successful; false if not

Implemented in CopleyDrive.

virtual bool Drive::initTorqControl ( )

pure virtual

Sets the drive to Torque control with default parameters (through SDO messages)

Note: Should be overloaded to allow parameters to be set

Returns: true if successful; false if not

Implemented in CopleyDrive.

virtual bool Drive::initVelControl ( )

pure virtual

Sets the drive to Velocity control with default parameters (through SDO messages)

Note: Should be overloaded to allow parameters to be set

Returns: true if successful; false if not

Implemented in CopleyDrive.

bool Drive::posControlConfirmSP ( )

virtual

Flips Bit 4 of Control Word (0x6041) - A new set point is only confirmed if the transition is from 0 to 1.

Returns: true The control word was previously 0 (i.e. successful set point confirm); false The control word was previously 1 (i.e. unsuccessful set point confirm)

Definition at line 74 of file Drive.cpp.

bool Drive::readyToSwitchOn ( )

virtual

Changes the state of the drive to "ready to switch on".

This is equivalent to setting bits 2 and 3 of Control Word (0x6064) to 1. See also the CANopen Programmer's Manual (from Copley Controls)

Returns: true if operation successful; false if operation unsuccessful

Definition at line 50 of file Drive.cpp.

int Drive::sendSDOMessages ( std::vector< std::string > messages )

protected

messages Properly formatted SDO Messages

@ return int number of messages successfully processed(return OK)

Definition at line 230 of file Drive.cpp.

bool Drive::setPos ( int position )

virtual

Writes the desired position to the Target Position of the motor drive (0x607A)

Returns: true if successful; false if not

Definition at line 21 of file Drive.cpp.

bool Drive::setTorque ( int torque )

virtual

Writes the desired torque to the Target Torque of the motor drive (0x6071)

Returns: true if successful; false if not

Definition at line 32 of file Drive.cpp.

bool Drive::setVel ( int velocity )

virtual

Writes the desired velocity to the Target Velocity of the motor drive (0x60FF)

Returns: true if successful; false if not

Definition at line 27 of file Drive.cpp.

int Drive::updateDriveStatus ( )

virtual

Updates the internal representation of the state of the drive

Returns: The current value of the status word (0x6041)

Definition at line 69 of file Drive.cpp.

Member Data Documentation

ControlMode Drive::controlMode = UNCONFIGURED

private

The mode in which the drive is currently configured.

Definition at line 170 of file Drive.h.

DriveState Drive::driveState = DISABLED

private

State of the drive.

Definition at line 164 of file Drive.h.

int Drive::error

private

Current error state of the drive.

Definition at line 158 of file Drive.h.

int Drive::NodeID

protected

The CAN Node ID used to address this particular drive on the CAN bus.

Definition at line 99 of file Drive.h.

int Drive::statusWord

private

Current status word of the drive.

Definition at line 152 of file Drive.h.

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

Refactor/src/libs/robot/Drive.h
Refactor/src/libs/robot/Drive.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation