ecat_control_ws/object__dictionary_8hpp_source.html

/******************************************************************************

 *

 *  $Id$

 *

 *  Copyright (C) 2021 Veysi ADIN, UST KIST

 *

 *  This file is part of the IgH EtherCAT master userspace program in the ROS2 environment.

 *

 *  The IgH EtherCAT master userspace program in the ROS2 environment is free software; you can

 *  redistribute it and/or modify it under the terms of the GNU General

 *  Public License as published by the Free Software Foundation; version 2

 *  of the License.

 *

 *  The IgH EtherCAT master userspace program in the ROS2 environment is distributed in the hope that

 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 *  GNU General Public License for more details.

 *

 *  You should have received a copy of the GNU General Public License

 *  along with the IgH EtherCAT master userspace program in the ROS environment. If not, see

 *  <http://www.gnu.org/licenses/>.

 *

 *  ---

 *

 *  The license mentioned above concerns the source code only. Using the

 *  EtherCAT technology and brand is only permitted in compliance with the

 *  industrial property and similar rights of Beckhoff Automation GmbH.

 *

 *  Contact information: veysi.adin@kist.re.kr

 *******************************************************************************/

/*******************************************************************************

 * \file  object_dictionary.hpp

 * \brief Contains object dictionary and state machine definitions based on CIA402

 *        Some index and subindexes might be specific to Maxon EPOS4.

 *        Check indexes if you're using different slave.

 *******************************************************************************/


#pragma once


#define OD_DEVICE_TYPE                  0x1000,0X00  // RO: uint32_t

#define OD_ERROR_REGISTER               0X1001,0X00  // RO: uint8_t Maxon EPOS4 Compact 50/5 \see ErrorRegisterBits struct

#define OD_MANUFACTURER_DEVICE_NAME     0X1008,0X00  // RO: VISIBLE_STRING

#define OD_STORE_PARAMETERS             0X1010,0X00  // Check subindex

#define OD_SAVE_ALL_PARAMETERS          0X1010,0X01  // RW: uint32_t

#define OD_RESTORE_PARAMETERS           0X1011,0X00  // Check subindex

#define OD_RESTORE_ALL_PARAMETERS       0X1011,0X01  // RW: uint32_t

#define OD_IDENTITY_OBJECT              0X1018,0X00  // Check subindexes

#define OD_VENDOR_ID                    0X1018,0X01  // RO : uint32_t

#define OD_PRODUCT_CODE                 0X1018,0X02  // RO : uint32_t

#define OD_REVISION_NUMBER              0X1018,0X03  // RO : uint32_t

#define OD_SERIAL_NUMBER                0X1018,0X04  // RO : uint32_t

#define OD_DIAGNOSIS_HISTORY            0X10F3,0X00  // Check subindexes.

#define OD_MAXIMUM_MESSAGES             0X10F3,0X01  // RO : uint8_t

#define OD_NEWEST_MESSAGE               0X10F3,0X02  // RO : uint8_t

#define OD_NEWEST_ACK_MESSAGE           0X10F3,0X03  // RW : uint8_t

#define OD_NEW_MESSAGE_AVAILABLE        0X10F3,0X04  // RO : bool

#define OD_FLAGS                        0X10F3,0X05  // RW : uint16_t

#define OD_DIAGNOSIS_MESSAGE_1          0X10F3,0X06  // RW : Octet_string

#define OD_DIAGNOSIS_MESSAGE_2          0X10F3,0X07  // RW : Octet_string

#define OD_DIAGNOSIS_MESSAGE_3          0X10F3,0X08  // RW : Octet_string

#define OD_DIAGNOSIS_MESSAGE_4          0X10F3,0X09  // RW : Octet_string

#define OD_DIAGNOSIS_MESSAGE_5          0X10F3,0X0A  // RW : Octet_string


#define OD_NUM_OF_RPDO_1_MAPPING        0X1600,0x00  // RW : uint8_t

#define OD_NUM_OF_RPDO_2_MAPPING        0X1601,0x00  // RW : uint8_t

#define OD_NUM_OF_RPDO_3_MAPPING        0X1602,0x00  // RW : uint8_t

#define OD_NUM_OF_RPDO_4_MAPPING        0X1603,0x00  // RW : uint8_t


#define OD_NUM_OF_TPDO_1_MAPPING        0X1A00,0x00  // RW : uint8_t

#define OD_NUM_OF_TPDO_2_MAPPING        0X1A01,0x00  // RW : uint8_t

#define OD_NUM_OF_TPDO_3_MAPPING        0X1A02,0x00  // RW : uint8_t

#define OD_NUM_OF_TPDO_4_MAPPING        0X1A03,0x00  // RW : uint8_t


#define OD_NUM_OF_SYNC_MANAGER_CHANNELS     0X1C00,0x00  // RO : uint8_t

#define OD_COM_TYPE_SYNC_CHANNEL_0          0X1C00,0x01  // RO : uint8_t Master > slave SDO

#define OD_COM_TYPE_SYNC_CHANNEL_1          0X1C00,0X02  // RO : uint8_t Master < slave SDO

#define OD_COM_TYPE_SYNC_CHANNEL_2          OX1C00,0X03  // RO : uint8_t Master > slave PDO

#define OD_COM_TYPE_SYNC_CHANNEL_3          0X1C00,0X04  // RO : uint8_t Master > slave PDO


#define OD_NUM_OF_ASSIGNED_RxPDOS           0X1C12,0x00  // RW : uint8_t

#define OD_1ST_ASSIGNED_RxPDO               0X1C12,0X00  // RW : uint16_t


#define OD_NUM_OF_ASSIGNED_TxPDOS           0X1C13,0X00  // RW : uint8_t

#define OD_1ST_ASSIGNED_TxPDO               0X1C13,0X01  // RW : uint16_t


#define OD_SYNC_TYPE_OUTPUTS                0X1C32,0X01  // RO : uint16_t

#define OD_CYCLE_TIME_OUTPUTS               0X1C32,0X02  // RO : uint32_t

#define OD_SUPPORTED_SYNC_TYPES_OUTPUTS     0X1C32,0X04  // RO : uint16_t

#define OD_MIN_CYCLE_TIME_OUTPUTS           0X1C32,0X05  // RO : uint32_t

#define OD_CALC_AND_COPY_TIME_OUTPUTS       0X1C32,0X06  // RO : uint32_t

#define OD_DELAY_TIME_OUTPUTS               0X1C32,0X09  // RO : uint32_t

#define OD_SM_EVENT_MISSED_OUTPUTS          0X1C32,0X0B  // RO : uint16_t

#define OD_CYCLE_TIME_TOO_SMALL_OUTPUTS     0X1C32,0X0C  // RO : uint16_t


#define OD_SYNC_TYPE_INPUTS                 0X1C33,0X01  // RO : uint16_t

#define OD_CYCLE_TIME_INPUTS                0X1C33,0X02  // RO : uint32_t

#define OD_SUPPORTED_SYNC_TYPES_INPUTS      0X1C33,0X04  // RO : uint16_t

#define OD_MIN_CYCLE_TIME_INPUTS            0X1C33,0X05  // RO : uint32_t

#define OD_CALC_AND_COPY_TIME_INPUTS        0X1C33,0X06  // RO : uint32_t

#define OD_SM_EVENT_MISSED_INPUTS           0X1C33,0X0B  // RO : uint16_t

#define OD_CYCLE_TIME_TOO_SMALL_INPUTS      0X1C33,0X0C  // RO : uint16_t


#define OD_POWER_SUPPLY_VOLTAGE             0X2200,0X01  // RO : uint16_t

#define OD_ACTIVE_FIELDBUS                  0X2010,0X00  // R0: uint8_t - 0: None , 1 : CANOpen -  2:EtherCAT

#define OD_CUSTOM_PERSISTENT_MEMORY_1       0X210C,0X01  // RW: int32_t to store configuration values, up to 4 bytes.

#define OD_CUSTOM_PERSISTENT_MEMORY_2       0X210C,0X02  // RW: int32_t to store configuration values, up to 4 bytes.

#define OD_CUSTOM_PERSISTENT_MEMORY_3       0X210C,0X03  // RW: int32_t to store configuration values, up to 4 bytes.

#define OD_CUSTOM_PERSISTENT_MEMORY_4       0X210C,0X04  // RW: int32_t to store configuration values, up to 4 bytes.

#define OD_POWER_SUPPLY_VOLTAGE             0X2200,0X01  // RO: uint16_t

#define OD_SENSOR_CONFIGURATION                         0X3000,0X01  // RW: uint32_t \see SensorConfig struct.

#define OD_CONTROL_STRUCTURE                            0X3000,0X02  // RW: uint32_t \see IMPORTANT! EPOS4-Firmware-Specification pg. 139

// EOF OD_AXIS_CONFIURATIONS

#define OD_MOTOR_DATA_NOMINAL_CURRENT                   0X3001,0X01  // RW: uint32_t  unit is mA

#define OD_MOTOR_DATA_OUTPUT_CURRENT_LIMIT              0X3001,0X02  // RW: uint32_t

#define OD_MOTOR_DATA_NUMBER_OF_POLE_PAIRS              0X3001,0X03  // RW: uint8_t

#define OD_MOTOR_DATA_THERMAL_TIME_CONSTANT_WINDINGS    0X3001,0X04  // RW: uint16_t

#define OD_MOTOR_DATA_TORQUE_CONSTANT                   0X3001,0X05  // RW: uint32_t

#define OD_GEAR_REDUCTION_NUMERATOR                     0X3003,0X01  // RW: uint32_t

#define OD_GEAR_REDUCTION_DENOMINATOR                   0X3003,0X02  // RW: uint32_t

#define OD_GEAR_MAX_INPUT_SPEED                         0X3003,0X03  // RW: uint32_t

#define OD_GEAR_MISC_CONFIGURATION                      0X3003,0X04  // RW: uint32_t // Gear direction 0 normal 1 inverted.

#define OD_DIGITAL_INCREMENTAL_ENCODER_1_TYPE           0X3010,0X02  // RW: uint16_t // pg. 157 EPOS4-Firmware-Specifications


#define OD_CURRENT_CONTROLLER_PGAIN                     0X30A0,0X01   // RW: uint32_t

#define OD_CURRENT_CONTROLLER_IGAIN                     0X30A0,0X02   // RW: uint32_t


#define OD_POSITION_CONTROLLER_PGAIN                    0X30A1,0X01   // RW: uint32_t

#define OD_POSITION_CONTROLLER_IGAIN                    0X30A1,0X02   // RW: uint32_t

#define OD_POSITION_CONTROLLER_DGAIN                    0X30A1,0X03   // RW: uint32_t

#define OD_POSITION_CONTROLLER_FF_VEL_GAIN              0X30A1,0X04   // RW: uint32_t

#define OD_POSITION_CONTROLLER_FF_ACC_GAIN              0X30A1,0X05   // RW: uint32_t


#define OD_VELOCITY_CONTROLLER_PGAIN                    0x30A2,0x01   // RW: uint32_t  \see EPOS4-Firmware-Specification pg. 167

#define OD_VELOCITY_CONTROLLER_IGAIN                    0x30A2,0x02   // RW: uint32_t  \see EPOS4-Firmware-Specification pg. 167

#define OD_VELOCITY_CONTROLLER_FF_VEL_GAIN              0x30A2,0x03   // RW: uint32_t  \see EPOS4-Firmware-Specification pg. 167

#define OD_VELOCITY_CONTROLLER_FF_ACC_GAIN              0x30A2,0x04   // RW: uint32_t  \see EPOS4-Firmware-Specification pg. 167


#define OD_CONTROL_WORD             0x6040,0x00

#define OD_STATUS_WORD              0x6041,0x00


#define OD_OPERATION_MODE           0x6060,0x00

#define OD_OPERATION_MODE_DISPLAY   0x6061,0x00


#define OD_TARGET_POSITION          0x607A,0x00

#define OD_POSITION_ACTUAL_VAL      0x6064,0x00

#define OD_POSITION_DEMAND          0x6062,0x00

#define OD_POSITON_FOLLOWING_ERROR  0x60F4,0X00

#define OD_POSITONCOUNTS            0x6063,0x00

#define OD_MAX_FOLLOWING_ERROR      0x6065,0x00


#define OD_VELOCITY_ACTUAL_VALUE    0x606C,0x00

#define OD_VELOCITY_ADDRESS         0x6069,0x00

#define OD_TARGET_VELOCITY          0x60FF,0x00

#define OD_VELOCITY_OFFSET          0x60B1,0x00

#define OD_PROFILE_VELOCITY                             0x6081,0x00

#define OD_MAX_MOTOR_SPEED                              0x6080,0x00

#define OD_MAX_PROFILE_VELOCITY                         0X607F,0X00

#define OD_PROFILE_ACCELERATION                         0x6083,0x00

#define OD_PROFILE_DECELERATION                         0x6084,0x00

#define OD_QUICK_STOP_DECELERATION                      0x6085,0x00

#define OD_MOTION_PROFILE_TYPE                          0x6086,0x00

#define OD_VELOCITY_ENCODER_RESOLUTION_NUM              0x6094,0x01

#define OD_VELOCITY_ENCODER_RESOLUTION_DEN              0x6094,0x02


#define OD_INTERPOLATION_TIME_PERIOD                    0X60C2,0X01  // RW: uint8_t   check EPOS4 Firmware Specification pg. 247

#define OD_INTERPOLATION_TIME_UNIT                      0X60C2,0X02  // RW: uint8_t   set this to -3(default) for ms unit.


#define OD_DIGITAL_INPUTS              0x60FD,0x00

#define OD_DIGITAL_OUTPUTS             0x60FE,0x01


#define OD_DC_CIRCUIT_LINK_VOLTAGE     0x6079,0x00

#define OD_TARGET_TORQUE               0x6071,0x00

#define OD_TORQUE_MAX                  0x6072,0x00

#define OD_TORQUE_ACTUAL_VALUE         0x6077,0x00

#define OD_TORQUE_OFFSET               0x60b2,0x00


#define OD_MAX_CURRENT                 0x6073, 0x00

#define OD_CURRENT_ACTUAL_VALUE        0x6078, 0x00

#define OD_ERROR_CODE                  0x603F, 0x00


#define OD_QUICK_STOP_MODE             0x605A,0x00

#define OD_STOP_OPTION_CODE            0x605D,0x00


/*****************************************************************/

// CIA 402 State machine definitions start.


#define SM_COMM_RESET               0x81

#define SM_FULL_RESET               0x82

#define SM_START                    0x01

#define SM_GO_READY_TO_SWITCH_ON    0x06

#define SM_GO_SWITCH_ON             0x07

#define SM_GO_ENABLE                0X0F

#define SM_GO_SWITCH_ON_DISABLE     0x00

#define SM_RUN                      0x1F

#define SM_EXPEDITE                 0x3F       //like run, but dont finish actual position profile

#define SM_QUICKSTOP                0x02

#define SM_RELATIVE_POS             0X7F


/* From CiA402,  - State coding

    Statusword      |      PDS FSA state

xxxx xxxx x0xx 0000 | Not ready to switch on

xxxx xxxx x1xx 0000 | Switch on disabled

xxxx xxxx x01x 0001 | Ready to switch on

xxxx xxxx x01x 0011 | Switched on

xxxx xxxx x01x 0111 | Operation enabled

xxxx xxxx x00x 0111 | Quick stop active

xxxx xxxx x0xx 1111 | Fault reaction active

xxxx xxxx x0xx 1000 | Fault

*/

#define SM_FSAFROMSTATUSWORD(SW)        (SW & 0x006f)

#define SM_NOT_READY_TO_SWITCH_ON       0b00000000

#define SM_NOT_READY_TO_SWITCH_ON_2     0b00100000

#define SM_SWITCH_ON_DISABLED           0b01000000

#define SM_SWITCH_ON_DISABLED_2         0b01100000

#define SM_READY_TO_SWITCH_ON           0b00100001

#define SM_SWITCHED_ON                  0b00100011

#define SM_OPERATION_ENABLED            0b00100111

#define SM_QUICK_STOP_ACTIVE            0b00000111

#define SM_FAULT_REACTION_ACTIVE        0b00001111

#define SM_FAULTREACTIONACTIVE2         0b00101111

#define SM_FAULT                        0b00001000

#define SM_FAULT2                       0b00101000


// SatusWord bits :

#define SM_SW_READY_TO_SWITCH_ON        0x0001

#define SM_SW_SWITCHED_ON               0x0002

#define SM_SW_OPERATION_ENABLED         0x0004

#define SM_SW_FAULT                     0x0008

#define SM_SW_VOLTAGE_ENABLED           0x0010

#define SM_SW_QUICK_STOP                0x0020

#define SM_SW_SWITCH_ON_DISABLED        0x0040

#define SM_SW_WARNING                   0x0080

#define SM_SW_REMOTE                    0x0200

#define SM_SW_TARGET_REACHED            0x0400

#define SM_SW_INTERNAL_LIMIT_ACTIVE     0x0800


// ControlWord bits :

#define SM_CW_SWITCH_ON         0x0001

#define SM_CW_ENABLE_VOLTAGE    0x0002

#define SM_CW_QUICK_STOP        0x0004

#define SM_CW_ENABLE_OPERATION  0x0008

#define SM_CW_FAULT_RESET       0x0080

#define SM_CW_OD_HALT           0x0100


/* CiA402 statemachine definition end */

/*****************************************************************/