ecat_globals.hpp File Reference

#include "ecat_definitions.hpp"

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Macros
#define	NUM_OF_SLAVES   1
#define	CUSTOM_SLAVE   0
#define	FREQUENCY   1000
#define	MEASURE_TIMING   1
#define	DISTRIBUTED_CLOCK   0
#define	GEAR_RATIO   49
#define	ENCODER_RESOLUTION   1000
#define	INC_PER_ROTATION   GEAR_RATIO*ENCODER_RESOLUTION*4
#define	FIVE_DEGREE_CCW   int(INC_PER_ROTATION/72)
#define	THIRTY_DEGREE_CCW   int(INC_PER_ROTATION/12)
#define	PERIOD_NS   (g_kNsPerSec/FREQUENCY)
#define	PERIOD_US   (PERIOD_NS / 1000)
#define	PERIOD_MS   (PERIOD_US / 1000)

Variables
const uint32_t	g_kNumberOfServoDrivers = 1
	Number of connected servo drives. More...
static int8_t	g_kOperationMode = kProfileVelocity
	Select operation mode for motors, default: Profile Velocity. More...
const struct timespec	g_cycle_time = {0, PERIOD_NS}
const struct timespec	g_half_cycle_time = {0, PERIOD_NS/2}

Macro Definition Documentation

CUSTOM_SLAVE

#define CUSTOM_SLAVE   0

Set this to 1 if you have custom EtherCAT slave other than servo drive.

Note

That if you have different custom slave than EasyCAT you have to modify PDO mapping by yourself.

DISTRIBUTED_CLOCK

#define DISTRIBUTED_CLOCK   0

ENCODER_RESOLUTION

#define ENCODER_RESOLUTION   1000

FIVE_DEGREE_CCW

#define FIVE_DEGREE_CCW   int(INC_PER_ROTATION/72)

FREQUENCY

#define FREQUENCY   1000

GEAR_RATIO

#define GEAR_RATIO   49

INC_PER_ROTATION

#define INC_PER_ROTATION   GEAR_RATIO*ENCODER_RESOLUTION*4

MEASURE_TIMING

#define MEASURE_TIMING   1

NUM_OF_SLAVES

#define NUM_OF_SLAVES   1

PERIOD_MS

#define PERIOD_MS   (PERIOD_US / 1000)

PERIOD_NS

#define PERIOD_NS   (g_kNsPerSec/FREQUENCY)

PERIOD_US

#define PERIOD_US   (PERIOD_NS / 1000)

THIRTY_DEGREE_CCW

#define THIRTY_DEGREE_CCW   int(INC_PER_ROTATION/12)

Variable Documentation

g_cycle_time

const struct timespec g_cycle_time = {0, PERIOD_NS}

g_half_cycle_time

const struct timespec g_half_cycle_time = {0, PERIOD_NS/2}

g_kNumberOfServoDrivers

const uint32_t g_kNumberOfServoDrivers = 1

Number of connected servo drives.

USER SHOULD DEFINE THIS AREAS ///

g_kOperationMode

int8_t g_kOperationMode = kProfileVelocity

static

Select operation mode for motors, default: Profile Velocity.