#include <ecat_slave.hpp>

Collaboration diagram for EthercatSlave:

Public Member Functions
	EthercatSlave ()

	~EthercatSlave ()

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

Public Attributes
ec_slave_config_t *	slave_config_
	Slave configuration parameters, assinged to each slave. More...

ec_slave_config_state_t	slave_config_state_
	Slave state handle to check if slave is online and slaves state machine status(INIT/PREOP/SAFEOP/0P) More...

ec_pdo_info_t *	slave_pdo_info_

ec_pdo_entry_info_t *	slave_pdo_entry_info_

ec_sync_info_t *	slave_sync_info_

ec_pdo_entry_reg_t *	slave_pdo_entry_reg_

uint8_t *	slave_pdo_domain_
	PDO domain for data exchange. More...

int32_t	motor_state_
	Variable for checking motor state. More...

ec_slave_info_t	slave_info_
	Slave information data structure. This structure contains all information related to slave. It will be used to get slave's information from master. More...

OffsetPDO	offset_
	Offset for PDO entries to assign pdo registers. More...

ReceivedData	data_
	Received data from servo drivers. More...

ProfileVelocityParam	velocity_param_
	Slave velocity parameters. More...

ProfilePosParam	position_param_
	Slave position parameters. More...

HomingParam	homing_param_

Static Public Attributes
static const uint32_t	kSync0_shift_ = 0
	DC sync shift setting, zero will give best synchronization. More...

Constructor & Destructor Documentation

◆ EthercatSlave()

EthercatSlave::EthercatSlave ( )

◆ ~EthercatSlave()

EthercatSlave::~EthercatSlave ( )

Member Function Documentation

◆ CheckSlaveConfigState()

int EthercatSlave::CheckSlaveConfigState ( )

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

Note: This function shouldn't be called in real time context.For diagnosis you can use CheckDomainState() encapsulation in ecat_node.

Returns: 0 if succesful.

Member Data Documentation

◆ data_

ReceivedData EthercatSlave::data_

Received data from servo drivers.

◆ homing_param_

HomingParam EthercatSlave::homing_param_

◆ kSync0_shift_

const uint32_t EthercatSlave::kSync0_shift_ = 0

static

DC sync shift setting, zero will give best synchronization.

◆ motor_state_

int32_t EthercatSlave::motor_state_

Variable for checking motor state.

◆ offset_

OffsetPDO EthercatSlave::offset_

Offset for PDO entries to assign pdo registers.

◆ position_param_

ProfilePosParam EthercatSlave::position_param_

Slave position parameters.

◆ slave_config_

ec_slave_config_t* EthercatSlave::slave_config_

Slave configuration parameters, assinged to each slave.

◆ slave_config_state_

ec_slave_config_state_t EthercatSlave::slave_config_state_

Slave state handle to check if slave is online and slaves state machine status(INIT/PREOP/SAFEOP/0P)

◆ slave_info_

ec_slave_info_t EthercatSlave::slave_info_

Slave information data structure. This structure contains all information related to slave. It will be used to get slave's information from master.

◆ slave_pdo_domain_

uint8_t* EthercatSlave::slave_pdo_domain_

PDO domain for data exchange.

◆ slave_pdo_entry_info_

ec_pdo_entry_info_t* EthercatSlave::slave_pdo_entry_info_

◆ slave_pdo_entry_reg_

ec_pdo_entry_reg_t* EthercatSlave::slave_pdo_entry_reg_

◆ slave_pdo_info_

ec_pdo_info_t* EthercatSlave::slave_pdo_info_

◆ slave_sync_info_

ec_sync_info_t* EthercatSlave::slave_sync_info_

◆ velocity_param_

ProfileVelocityParam EthercatSlave::velocity_param_

Slave velocity parameters.

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

src/ecat_pkg/include/ecat_pkg/ecat_slave.hpp
src/ecat_pkg/src/ecat_slave.cpp

Public Member Functions

Public Attributes

Static Public Attributes