#include <ecat_node.hpp>

Collaboration diagram for EthercatCommunication::EthercatNode:

Public Member Functions
	EthercatNode ()

	~EthercatNode ()

int	ConfigureMaster ()
	Requests master instance and creates a domain for a master. More...

void	DefineDefaultSlaves ()
	Defines default connected slaves based on number of slaves. Specifies its position, vendor id , product code etc. Default connected slaves considered implementation specific. In our case it will be 3 motors and one EasyCAT slave. More...

void	SetCustomSlave (EthercatSlave c_slave, int position)
	Passes your defined slave to EthercatNode class. More...

int	ConfigureSlaves ()
	Obtains slave configuration for all slaves w.r.t master. More...

int	SetProfilePositionParameters (ProfilePosParam &P, int position)
	Set mode to ProfilePositionMode with specified parameters for servo drive on that position. More...

int	SetProfilePositionParametersAll (ProfilePosParam &P)
	Set the mode to ProfilePositionMode with specified Parameters for all servo drives on the bus. More...

int	SetProfileVelocityParameters (ProfileVelocityParam &P, int position)
	Set mode to ProfileVelocityMode with specified parameters for servo drive on that position. More...

int	SetProfileVelocityParametersAll (ProfileVelocityParam &P)
	Set mode to ProfileVelocityMode with specified parameters for all servo drives on the bus. More...

int	SetCyclicSyncPositionModeParameters (CSPositionModeParam &P, int position)
	Set the Cyclic Sync Position Mode Parameters for slave in specified physical position w.r.t. master. More...

int	SetCyclicSyncPositionModeParametersAll (CSPositionModeParam &P)
	Sets the Cyclic Synchronous Position Mode Parameters for all connected motor driver slaves. More...

int	SetCyclicSyncVelocityModeParameters (CSVelocityModeParam &P, int position)
	Set the Cyclic Sync Velocity Mode Parameters for slave in specified physical position w.r.t. master. More...

int	SetCyclicSyncVelocityModeParametersAll (CSVelocityModeParam &P)
	Sets the Cyclic Synchronous Velocity Mode Parameters for all connected motor driver slaves. More...

int	SetCyclicSyncTorqueModeParameters (CSTorqueModeParam &P, int position)
	Set the Cyclic Sync Torque Mode Parameters for slave in specified physical position w.r.t. master. More...

int	SetCyclicSyncTorqueModeParametersAll (CSTorqueModeParam &P)
	Sets the Cyclic Synchronous Torque Mode Parameters for all connected motor driver slaves. More...

int	MapDefaultSdos ()
	Maps default SDOs which can be found. More...

int	MapDefaultPdos ()
	Maps default PDOs for the application. More...

int	MapCustomPdos (EthercatSlave c_slave, int position)
	Map Custom PDO based on your PDO mappings. More...

void	ConfigDcSyncDefault ()
	Configures DC sync for our default configuration. More...

void	ConfigDcSync (uint16_t assign_activate, int position)
	Configures DC synchronization for specified slave position. More...

void	CheckSlaveConfigurationState ()
	This function will check slave's application layer states. (INIT/PREOP/SAFEOP/OP) More...

int	CheckMasterState ()
	This function will check master's state, in terms of number of responding slaves and their application layer states. More...

void	CheckMasterDomainState ()
	Reads the state of a domain. Stores the domain state in the given state structure. Using this method, the process data exchange can be monitored in realtime. More...

int	ActivateMaster ()
	Activates master, after this function call realtime operation can start. More...

int	RegisterDomain ()
	Registers domain for each slave. This method has to be called after ecrt_master_activate() to get the mapped domain process data memory. More...

int	WaitForOperationalMode ()
	Puts all slave to operational mode. User must call this before entering real-time operation. Reason for this function is that, master and slave has to do several exchange before becoming operational. So this function does exchange between master and slaves for up to 10 sec, could finish earlier. If timeout occurs it will return -1. More...

int	OpenEthercatMaster ()
	Opens EtherCAT master via command line tool if it's not already on. More...

int	GetNumberOfConnectedSlaves ()
	Get the Number Of physically Connected Slaves to the bus.And checks if specified NUM_OF_SLAVES is correct. More...

void	GetAllSlaveInformation ()
	Get the information of physically connected slaves to the master. This function will return connected slave's vendor id, product code. More...

void	DeactivateCommunication ()
	Deactivates master, and it is used to stop cyclic PDO exchange. More...

void	ReleaseMaster ()
	Deactivates and releases master shouldn't be called in real-time. More...

int	ShutDownEthercatMaster ()
	Shutdowns EtherCAT master via command line tool if it's not already off. More...

int	RestartEthercatMaster ()
	Restarts Ethercat master via command line tool. More...

void	WriteSDO (ec_sdo_request_t *req, int32_t data, int size)
	Writes SDO in real-time context. More...

uint16_t	ReadSDO (ec_sdo_request_t *req, uint16_t &status_word)
	Reads SDO in real-time context by creating read request. More...

int8_t	SdoRead (SDO_data &pack)
	This function reads data from specified index and subindex via SDO, returned data will be stored in pack.data which needs to be casted to correct data type afterwards. More...

int8_t	SdoWrite (SDO_data &pack)
	This function writes data to specified index and subindex via SDO. More...

uint16_t	ReadStatusWordViaSDO (int index)
	Get the Status Word from CiA402 slaves in specified index via SDO communication. More...

int16_t	WriteControlWordViaSDO (int index, uint16_t control_word)
	Writes control word to slave in specified index via SDO. More...

int16_t	WriteOpModeViaSDO (int index, uint8_t op_mode)

uint8_t	ReadOpModeViaSDO (int index)
	Reads current operational mode from slave in specified index via SDO. More...

int32_t	ReadActualVelocityViaSDO (int index)
	Reads actual velocity value from slave in specified index via SDO. More...

int16_t	WriteTargetVelocityViaSDO (int index, int32_t target_vel)
	Writes target velocity value via SDO to slave in specified index. More...

int32_t	ReadActualPositionViaSDO (int index)
	Read actual position from slave in specified index via SDO. More...

int16_t	WriteTargetPositionViaSDO (int index, int32_t target_pos)
	Writes target position value via SDO to slave in specified index. More...

int16_t	ReadActualTorqueViaSDO (int index)
	Read actual torque value from slave in specified index via SDO. More...

int16_t	WriteTargetTorqueViaSDO (int index, uint16_t target_tor)
	Writes target torque value to slave in specified index via SDO. More...

int16_t	EnableDrivesViaSDO (int index)
	Enable CiA402 supported motor drives in specified index via SDO. More...

int16_t	DisableDrivesViaSDO (int index)
	Disable CiA402 supported motor drives in specified index via SDO. More...

Public Attributes
EthercatSlave	slaves_ [NUM_OF_SLAVES]

std::vector< SdoRequest >	request_sdos_

Private Attributes
int	fd
	File descriptor to open and wake master from CLI. More...

Constructor & Destructor Documentation

◆ EthercatNode()

EthercatNode::EthercatNode ( )

◆ ~EthercatNode()

EthercatNode::~EthercatNode ( )

Member Function Documentation

◆ ActivateMaster()

int EthercatNode::ActivateMaster ( )

Activates master, after this function call realtime operation can start.

Warning: Before activating master all configuration should be done; After calling this function you have to register domain(s) and start realtime task.

Returns: 0 if succesful, otherwise -1.

◆ CheckMasterDomainState()

void EthercatNode::CheckMasterDomainState ( )

Reads the state of a domain. Stores the domain state in the given state structure. Using this method, the process data exchange can be monitored in realtime.

◆ CheckMasterState()

int EthercatNode::CheckMasterState ( )

This function will check master's state, in terms of number of responding slaves and their application layer states.

Returns: 0 if succesful, otherwise -1

See also: ec_master_state_t structure.

◆ CheckSlaveConfigurationState()

void EthercatNode::CheckSlaveConfigurationState ( )

This function will check slave's application layer states. (INIT/PREOP/SAFEOP/OP)

◆ ConfigDcSync()

void EthercatNode::ConfigDcSync	(	uint16_t	assign_activate,
		int	position
	)

Configures DC synchronization for specified slave position.

Parameters

assign_activate Activating DC synchronization for slave. 0x300 for Elmo | and same for EasyCAT

Note: Assign activate parameters specified in slaves ESI file

Parameters

position

◆ ConfigDcSyncDefault()

void EthercatNode::ConfigDcSyncDefault ( )

Configures DC sync for our default configuration.

◆ ConfigureMaster()

int EthercatNode::ConfigureMaster ( )

Requests master instance and creates a domain for a master.

Note: Keep in mind that created master and domain are global variables.

Returns: 0 if succesful otherwise -1.

◆ ConfigureSlaves()

int EthercatNode::ConfigureSlaves ( )

Obtains slave configuration for all slaves w.r.t master.

Returns: 0 if successfull, otherwise -1.

◆ DeactivateCommunication()

void EthercatNode::DeactivateCommunication ( )

Deactivates master, and it is used to stop cyclic PDO exchange.

Note: That calling this function means that your PDO exchange will stop.; Additionally all pointers created by requesting master are freed with this function./ If you want to resume your communication, you'll have to do the configuration again.

◆ DefineDefaultSlaves()

void EthercatCommunication::EthercatNode::DefineDefaultSlaves ( )

Defines default connected slaves based on number of slaves. Specifies its position, vendor id , product code etc. Default connected slaves considered implementation specific. In our case it will be 3 motors and one EasyCAT slave.

◆ DisableDrivesViaSDO()

int16_t EthercatCommunication::EthercatNode::DisableDrivesViaSDO ( int index )

Disable CiA402 supported motor drives in specified index via SDO.

Parameters

index slave index

Returns: 0 if successfull, otherwise -1.

◆ EnableDrivesViaSDO()

int16_t EthercatCommunication::EthercatNode::EnableDrivesViaSDO ( int index )

Enable CiA402 supported motor drives in specified index via SDO.

Parameters

index slave index

Returns: 0 if successfull, otherwise -1.

◆ GetAllSlaveInformation()

void EthercatNode::GetAllSlaveInformation ( )

Get the information of physically connected slaves to the master. This function will return connected slave's vendor id, product code.

◆ GetNumberOfConnectedSlaves()

int EthercatNode::GetNumberOfConnectedSlaves ( )

Get the Number Of physically Connected Slaves to the bus.And checks if specified NUM_OF_SLAVES is correct.

Returns: 0 if NUM_OF_SLAVES setting is correct, otherwise -1.

◆ MapCustomPdos()

int EthercatNode::MapCustomPdos	(	EthercatSlave	c_slave,
		int	position
	)

Map Custom PDO based on your PDO mappings.

Note: You have to specify slave syncs and slave pdo registers before using function

Parameters

c_slave	EthercatSlave instance
position	Physical position of your slave w.r.t master

Returns: 0 if successfull, -1 otherwise.

◆ MapDefaultPdos()

int EthercatNode::MapDefaultPdos ( )

Maps default PDOs for the application.

Note: This method is specific to our implementation. However you can modify it to suit your needs. If you have different topology or different servo drives use MapCustomPdos() function or modify this function based on your needs.

Returns: 0 if successfull, otherwise -1.

This part is specific for our Custom EASYCAT slave configuration To create your custom slave and variables you can add variables to

See also: OffsetPDO struct. Also you have add your variables to received data structure, you may have to create your custom msg files as well.

◆ MapDefaultSdos()

int EthercatNode::MapDefaultSdos ( )

Maps default SDOs which can be found.

See also: SdoRequest struct.

Returns: 0 if successfull, otherwise -1.

◆ OpenEthercatMaster()

int EthercatNode::OpenEthercatMaster ( )

Opens EtherCAT master via command line tool if it's not already on.

Returns: 0 if successfull, otherwise -1.

◆ ReadActualPositionViaSDO()

int32_t EthercatNode::ReadActualPositionViaSDO ( int index )

Read actual position from slave in specified index via SDO.

Parameters

index slave index

Returns: actual position of selected slave.

◆ ReadActualTorqueViaSDO()

int16_t EthercatNode::ReadActualTorqueViaSDO ( int index )

Read actual torque value from slave in specified index via SDO.

Parameters

index

Returns: uint16_t

◆ ReadActualVelocityViaSDO()

int32_t EthercatNode::ReadActualVelocityViaSDO ( int index )

Reads actual velocity value from slave in specified index via SDO.

Parameters

index slave index

Returns: actual velocity value of selected slave.

◆ ReadOpModeViaSDO()

uint8_t EthercatNode::ReadOpModeViaSDO ( int index )

Reads current operational mode from slave in specified index via SDO.

Parameters

index slave index

Returns: status word of selected slave.

◆ ReadSDO()

uint16_t EthercatNode::ReadSDO	(	ec_sdo_request_t *	req,
		uint16_t &	status_word
	)

Reads SDO in real-time context by creating read request.

Parameters

req

◆ ReadStatusWordViaSDO()

uint16_t EthercatNode::ReadStatusWordViaSDO ( int index )

Get the Status Word from CiA402 slaves in specified index via SDO communication.

Parameters

index slave index

Returns: status word

◆ RegisterDomain()

int EthercatNode::RegisterDomain ( )

Registers domain for each slave. This method has to be called after ecrt_master_activate() to get the mapped domain process data memory.

Returns: 0 if succeful , otherwise -1

◆ ReleaseMaster()

void EthercatNode::ReleaseMaster ( )

Deactivates and releases master shouldn't be called in real-time.

◆ RestartEthercatMaster()

int EthercatNode::RestartEthercatMaster ( )

Restarts Ethercat master via command line tool.

Returns: 0 if successfull, otherwise -1.

◆ SdoRead()

int8_t EthercatNode::SdoRead ( SDO_data & pack )

This function reads data from specified index and subindex via SDO, returned data will be stored in pack.data which needs to be casted to correct data type afterwards.

See also: @SDO_data struct

Note: This is a blocking function, until response has been received.Don't use it in real-time context!!.

Parameters

pack	SDO_data struct which contains; index,subindex,data size, and data that will be used to store read data.

Returns: 0 if successfull, otherwise -1.

◆ SdoWrite()

int8_t EthercatNode::SdoWrite ( SDO_data & pack )

This function writes data to specified index and subindex via SDO.

See also: @SDO_data struct

Note: This is a blocking function, until response has been received.Don't use it in real-time context!!.

Parameters

pack	SDO_data struct which contains; index,subindex,data size and data to be written.

Returns: 0 if successfull, otherwise -1.

◆ SetCustomSlave()

void EthercatNode::SetCustomSlave	(	EthercatSlave	c_slave,
		int	position
	)

Passes your defined slave to EthercatNode class.

Parameters

c_slave	first create your own EthercatSlave instance and modify it then pass it to configuration.
position	specify the physical connection position for your custom configured slave.

◆ SetCyclicSyncPositionModeParameters()

int EthercatNode::SetCyclicSyncPositionModeParameters	(	CSPositionModeParam &	P,
		int	position
	)

Set the Cyclic Sync Position Mode Parameters for slave in specified physical position w.r.t. master.

Parameters

P	Cyclic Sync. Position Mode Parameters.
position	Physical position of slave to be configured

Returns: 0 if sucessfull, otherwise -1.

◆ SetCyclicSyncPositionModeParametersAll()

int EthercatNode::SetCyclicSyncPositionModeParametersAll ( CSPositionModeParam & P )

Sets the Cyclic Synchronous Position Mode Parameters for all connected motor driver slaves.

Returns: 0 if sucessful, otherwise -1.

◆ SetCyclicSyncTorqueModeParameters()

int EthercatNode::SetCyclicSyncTorqueModeParameters	(	CSTorqueModeParam &	P,
		int	position
	)

Set the Cyclic Sync Torque Mode Parameters for slave in specified physical position w.r.t. master.

Parameters

P	Cyclic Sync. Torque Mode Parameters.
position	Physical position of slave to be configured

Returns: 0 if sucessfull, otherwise -1.

◆ SetCyclicSyncTorqueModeParametersAll()

int EthercatNode::SetCyclicSyncTorqueModeParametersAll ( CSTorqueModeParam & P )

Sets the Cyclic Synchronous Torque Mode Parameters for all connected motor driver slaves.

Returns: 0 if sucessful, otherwise -1.

◆ SetCyclicSyncVelocityModeParameters()

int EthercatNode::SetCyclicSyncVelocityModeParameters	(	CSVelocityModeParam &	P,
		int	position
	)

Set the Cyclic Sync Velocity Mode Parameters for slave in specified physical position w.r.t. master.

Parameters

P	Cyclic Sync. Velocity Mode Parameters.
position	Physical position of slave to be configured

Returns: 0 if sucessfull, otherwise -1.

◆ SetCyclicSyncVelocityModeParametersAll()

int EthercatNode::SetCyclicSyncVelocityModeParametersAll ( CSVelocityModeParam & P )

Sets the Cyclic Synchronous Velocity Mode Parameters for all connected motor driver slaves.

Returns: 0 if sucessful, otherwise -1.

◆ SetProfilePositionParameters()

int EthercatNode::SetProfilePositionParameters	(	ProfilePosParam &	P,
		int	position
	)

Set mode to ProfilePositionMode with specified parameters for servo drive on that position.

Parameters

P	Profile position parameter structure specified by user.
position	Slave position

Returns: 0 if successfull, otherwise -1.

◆ SetProfilePositionParametersAll()

int EthercatNode::SetProfilePositionParametersAll ( ProfilePosParam & P )

Set the mode to ProfilePositionMode with specified Parameters for all servo drives on the bus.

Parameters

P	Profile position parameter structure specified by user.

Returns: 0 if succesful, otherwise -1.

◆ SetProfileVelocityParameters()

int EthercatNode::SetProfileVelocityParameters	(	ProfileVelocityParam &	P,
		int	position
	)

Set mode to ProfileVelocityMode with specified parameters for servo drive on that position.

Parameters

P	Profile velocity parameter structure specified by user.
position	Slave position

Returns: 0 if succesful, -1 otherwise.

◆ SetProfileVelocityParametersAll()

int EthercatNode::SetProfileVelocityParametersAll ( ProfileVelocityParam & P )

Set mode to ProfileVelocityMode with specified parameters for all servo drives on the bus.

Parameters

P	Profile velocity parameter structure specified by user.

Returns: 0 if successfull, -1 otherwise.

◆ ShutDownEthercatMaster()

int EthercatNode::ShutDownEthercatMaster ( )

Shutdowns EtherCAT master via command line tool if it's not already off.

Returns: 0 if successfull, otherwise -1.

◆ WaitForOperationalMode()

int EthercatNode::WaitForOperationalMode ( )

Puts all slave to operational mode. User must call this before entering real-time operation. Reason for this function is that, master and slave has to do several exchange before becoming operational. So this function does exchange between master and slaves for up to 10 sec, could finish earlier. If timeout occurs it will return -1.

Returns: 0 if successfull, otherwise -1.

◆ WriteControlWordViaSDO()

int16_t EthercatNode::WriteControlWordViaSDO	(	int	index,
		uint16_t	control_word
	)

Writes control word to slave in specified index via SDO.

Parameters

index	slave index,
control_word	control word to be written

Returns: 0 if successfull otherwise -1.

◆ WriteOpModeViaSDO()

int16_t EthercatNode::WriteOpModeViaSDO	(	int	index,
		uint8_t	op_mode
	)

◆ WriteSDO()

void EthercatNode::WriteSDO	(	ec_sdo_request_t *	req,
		int32_t	data,
		int	size
	)

Writes SDO in real-time context.

Parameters

req
data

◆ WriteTargetPositionViaSDO()

int16_t EthercatNode::WriteTargetPositionViaSDO	(	int	index,
		int32_t	target_pos
	)

Writes target position value via SDO to slave in specified index.

Parameters

index	slave index.
target_pos	desired target position value.

Returns: 0 if successfull, otherwise -1.

◆ WriteTargetTorqueViaSDO()

int16_t EthercatNode::WriteTargetTorqueViaSDO	(	int	index,
		uint16_t	target_tor
	)

Writes target torque value to slave in specified index via SDO.

Parameters

index	slave index
target_tor	desired target torque value.

Returns: 0 if successfull, otherwise -1.

◆ WriteTargetVelocityViaSDO()

int16_t EthercatNode::WriteTargetVelocityViaSDO	(	int	index,
		int32_t	target_vel
	)

Writes target velocity value via SDO to slave in specified index.

Parameters

index	slave index
target_vel	desired target velocity val.

Returns: 0 if successfull, othewise -1.

Member Data Documentation

◆ fd

int EthercatCommunication::EthercatNode::fd

private

File descriptor to open and wake master from CLI.

◆ request_sdos_

std::vector<SdoRequest> EthercatCommunication::EthercatNode::request_sdos_

◆ slaves_

EthercatSlave EthercatCommunication::EthercatNode::slaves_[NUM_OF_SLAVES]

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

src/ecat_pkg/include/ecat_pkg/ecat_node.hpp
src/ecat_pkg/src/ecat_node.cpp

Public Member Functions

Public Attributes

Private Attributes

Constructor & Destructor Documentation

◆ EthercatNode()

◆ ~EthercatNode()

Member Function Documentation

◆ ActivateMaster()

◆ CheckMasterDomainState()

◆ CheckMasterState()

◆ CheckSlaveConfigurationState()

◆ ConfigDcSync()

◆ ConfigDcSyncDefault()

◆ ConfigureMaster()

◆ ConfigureSlaves()

◆ DeactivateCommunication()

◆ DefineDefaultSlaves()

◆ DisableDrivesViaSDO()

◆ EnableDrivesViaSDO()

◆ GetAllSlaveInformation()

◆ GetNumberOfConnectedSlaves()

◆ MapCustomPdos()

◆ MapDefaultPdos()

◆ MapDefaultSdos()

◆ OpenEthercatMaster()

◆ ReadActualPositionViaSDO()

◆ ReadActualTorqueViaSDO()

◆ ReadActualVelocityViaSDO()

◆ ReadOpModeViaSDO()

◆ ReadSDO()

◆ ReadStatusWordViaSDO()

◆ RegisterDomain()

◆ ReleaseMaster()

◆ RestartEthercatMaster()

◆ SdoRead()

◆ SdoWrite()

◆ SetCustomSlave()

◆ SetCyclicSyncPositionModeParameters()

◆ SetCyclicSyncPositionModeParametersAll()

◆ SetCyclicSyncTorqueModeParameters()

◆ SetCyclicSyncTorqueModeParametersAll()

◆ SetCyclicSyncVelocityModeParameters()

◆ SetCyclicSyncVelocityModeParametersAll()

◆ SetProfilePositionParameters()

◆ SetProfilePositionParametersAll()

◆ SetProfileVelocityParameters()

◆ SetProfileVelocityParametersAll()

◆ ShutDownEthercatMaster()

◆ WaitForOperationalMode()

◆ WriteControlWordViaSDO()

◆ WriteOpModeViaSDO()

◆ WriteSDO()

◆ WriteTargetPositionViaSDO()

◆ WriteTargetTorqueViaSDO()

◆ WriteTargetVelocityViaSDO()

Member Data Documentation

◆ fd

◆ request_sdos_

◆ slaves_