Class for encapsulating IgH EtherCAT library functionality. More...

#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	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 drive in specified 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 in specified 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	MapDefaultPdos ()
	Maps default PDOs for our 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 slaves and can be called in real-time. 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...

uint8_t	SdoRead (SDO_data &pack)
	Reads data from specified slave index and subindex via SDO. Writes data to pack.data. More...

uint8_t	SdoWrite (SDO_data &pack)
	Writes data to specied slave's index and subindex via SDO. More...

Public Attributes
EthercatSlave	slaves_ [NUM_OF_SLAVES]
	Slave instances. More...

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

Detailed Description

Class for encapsulating IgH EtherCAT library functionality.

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 Physical position w.r.t master. e.g 1,2,3...

◆ 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 slaves and can be called in real-time.

◆ 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 our 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 of modify this function based on your needs.

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.

◆ 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.

◆ SdoRead()

uint8_t EthercatNode::SdoRead ( SDO_data & pack )

Reads data from specified slave index and subindex via SDO. Writes data to pack.data.

Returns: 0 if successfull, otherwise -1.

◆ SdoWrite()

uint8_t EthercatNode::SdoWrite ( SDO_data & pack )

Writes data to specied slave's index and subindex via SDO.

Parameters

pack	SDO data structure, contains index,subindex,slave position etc.

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 w.r.t to master 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 drive in specified 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 in specified 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.

Member Data Documentation

◆ fd

int EthercatCommunication::EthercatNode::fd

private

File descriptor to open and wake master from CLI.

◆ slaves_

EthercatSlave EthercatCommunication::EthercatNode::slaves_[NUM_OF_SLAVES]

Slave instances.

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

include/ecat_node.hpp
src/ecat_node.cpp

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EthercatNode()

◆ ~EthercatNode()

Member Function Documentation

◆ ActivateMaster()

◆ CheckMasterDomainState()

◆ CheckMasterState()

◆ CheckSlaveConfigurationState()

◆ ConfigDcSync()

◆ ConfigDcSyncDefault()

◆ ConfigureMaster()

◆ ConfigureSlaves()

◆ DeactivateCommunication()

◆ GetAllSlaveInformation()

◆ GetNumberOfConnectedSlaves()

◆ MapCustomPdos()

◆ MapDefaultPdos()

◆ OpenEthercatMaster()

◆ RegisterDomain()

◆ ReleaseMaster()

◆ SdoRead()

◆ SdoWrite()

◆ SetCustomSlave()

◆ SetCyclicSyncPositionModeParameters()

◆ SetCyclicSyncPositionModeParametersAll()

◆ SetCyclicSyncTorqueModeParameters()

◆ SetCyclicSyncTorqueModeParametersAll()

◆ SetCyclicSyncVelocityModeParameters()

◆ SetCyclicSyncVelocityModeParametersAll()

◆ SetProfilePositionParameters()

◆ SetProfilePositionParametersAll()

◆ SetProfileVelocityParameters()

◆ SetProfileVelocityParametersAll()

◆ ShutDownEthercatMaster()

◆ WaitForOperationalMode()

Member Data Documentation

◆ fd

◆ slaves_