ecat_globals.hpp File Reference

#include <iostream>
#include <cstring>
#include <limits.h>
#include <stdlib.h>
#include <pthread.h>
#include <errno.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h>
#include <sys/mman.h>
#include <malloc.h>
#include <sched.h>
#include <chrono>
#include <memory>
#include <vector>
#include "ecrt.h"
#include "object_dictionary.hpp"

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Classes
struct	Controller
	Xbox Controller values. More...
struct	SDO_data
	SDO_data Structure holding all data needed to send an SDO object. More...
struct	DataReceived
	Structure for data to be received from slaves. More...
struct	DataSent
	Structure for data to be sent to slaves. More...
struct	OffsetPDO
	offset for PDO entries to register PDOs. More...
struct	SdoRequest
	EtherCAT SDO request structure for configuration phase. More...
struct	ProfilePosParam
	Parameters that should be specified in position mode. More...
struct	CSPositionModeParam
	Struct contains configuration parameters for cyclic sync. position mode. More...
struct	VelControlParam
	Struct containing 'velocity control parameter set' 0x30A2 Has 4 sub index. Default values are from EPOS4 firmware manual. More...
struct	CSVelocityModeParam
	Struct contains configuration parameters for cyclic sync. velocity mode. More...
struct	CSTorqueModeParam
	Struct contains configuration parameters for cyclic sync. torque mode. More...
struct	HomingParam
	Homing mode configuration parameters. More...
struct	ProfileVelocityParam
	Profile velocity mode configuration parameters. More...

Macros
#define	NUM_OF_SLAVES   1
	Total number of connected slave to the bus. More...
#define	CUSTOM_SLAVE   0
#define	FREQUENCY   1000
	Ethercat PDO exchange loop frequency in Hz More...
#define	MEASURE_TIMING   1
	If you want to measure timings leave it as one, otherwise make it 0. More...
#define	VELOCITY_MODE   1
	set this to 1 if you want to use it in velocity mode (and set other modes 0) More...
#define	POSITION_MODE   0
	set this to 1 if you want to use it in position mode (and set other modes 0) More...
#define	CYCLIC_POSITION_MODE   0
	set this to 1 if you want to use it in cyclic synchronous position mode (and set other modes 0) More...
#define	CYCLIC_VELOCITY_MODE   0
	set this to 1 if you want to use it in cyclic synchronous velocity mode (and set other modes 0) More...
#define	CYCLIC_TORQUE_MODE   0
	set this to 1 if you want to use it in cyclic synchronous torque mode (and set other modes 0) More...
#define	DISTRIBUTED_CLOCK   1
	set this to 1 if you want to activate distributed clock, by default leave it 1. More...
#define	GEAR_RATIO   103
#define	ENCODER_RESOLUTION   1024
	Motor encoder resolution. More...
#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)
#define	TEST_BIT(NUM, N)   ((NUM & (1 << N))>>N)
	To sync every cycle. More...
#define	SET_BIT(NUM, N)   (NUM | (1 << N))
#define	RESET_BIT(NUM, N)   (NUM & ~(1 << N))
#define	TIMESPEC2NS(T)   ((uint64_t) (T).tv_sec * g_kNsPerSec + (T).tv_nsec)
	Convert timespec struct to nanoseconds. More...
#define	DIFF_NS(A, B)   (((B).tv_sec - (A).tv_sec) * g_kNsPerSec + (B).tv_nsec - (A).tv_nsec)
#define	CLOCK_TO_USE   CLOCK_MONOTONIC
	Using Monotonic system-wide clock. More...

Enumerations
enum	LifeCycleState { FAILURE = -1 , SUCCESS , TRANSITIONING }
	Class states. More...
enum	OpMode {   kProfilePosition = 1 , kProfileVelocity = 3 , kProfileTorque = 4 , kHoming = 6 ,   kInterpolatedPosition = 7 , kCSPosition = 8 , kCSVelocity = 9 , kCSTorque = 10 }
	Motor operation modes based on CiA402. More...
enum	MotorStates {   kReadyToSwitchOn = 1 , kSwitchedOn , kOperationEnabled , kFault ,   kVoltageEnabled , kQuickStop , kSwitchOnDisabled , kWarning ,   kRemote , kTargetReached , kInternalLimitActivate }
	CIA 402 state machine motor states. More...
enum	ErrorRegisterBits {   kGenericError = 0 , kCurrentError , kVoltageError , kTemperatureError ,   kCommunicationError , kDeviceProfileSpecificError , kReserved , kMotionError }
	CiA402 Error register bits for error index. More...
enum	SensorConfig {   kSensor1TypeNone =0 , kSensor1TypeDigitalIncrementalEncoder1 =1 , kSensor2TypeNone =0 , kSensor2TypeDigitalIncrementalEncoder2 =256 ,   kSensor2TypeAnalogIncrementalEncoderSinCos =512 , kSensor2TypeSSIAbsoluteEncoder =768 , kSensor3TypeNone =0 , kSensor3TypeDigitalHallSensor =131072 }
enum	ControlStructureBits {   kCurrentControlStructure = 0 , kVelocityControlStructure = 4 , kPositionControlStructure = 8 , kGearLocation = 12 ,   kProcessValueReference = 14 , kMainSensor = 16 , kAuxiliarySensor = 20 , kMountingPositionSensor1 = 24 ,   kMountingPositionSensor2 = 26 , kMountingPositionSensor3 = 28 }
	Control structure configuration for control mechanism to select sensor structure specific to hardware. More...
enum	ErrorType {   NO_ERROR = 0 , GENERIC_ERROR = 0x1000 , GENERIC_INIT_ERROR = 0x1080 , GENERIC_INIT_ERROR_1 = 0x1081 ,   GENERIC_INIT_ERROR_2 = 0x1082 , GENERIC_INIT_ERROR_3 = 0x1083 , GENERIC_INIT_ERROR_4 = 0x1084 , GENERIC_INIT_ERROR_5 = 0x1085 ,   GENERIC_INIT_ERROR_6 = 0x1086 , GENERIC_INIT_ERROR_7 = 0x1087 , GENERIC_INIT_ERROR_8 = 0x1088 , FIRMWARE_INCOMPATIBLITY_ERROR = 0x1090 ,   OVER_CURRENT_ERROR = 0x2310 , POWER_STAGE_PROTECTION_ERROR = 0x2320 , OVER_VOLTAGE_ERROR = 0x3210 , UNDER_VOLTAGE_ERROR = 0x3220 ,   THERMAL_OVERLOAD_ERROR = 0x4210 , THERMAL_MOTOR_OVERLOAD_ERRROR = 0x4380 , LOGIC_SUPPLY_TOO_LOW_ERROR = 0x5113 , HARDWARE_DEFECT_ERROR = 0x5280 ,   HARDWARE_INCOMPATIBLITY_ERROR = 0x5281 , HARDWARE_ERROR = 0x5480 , HARDWARE_ERROR_1 = 0x5481 , HARDWARE_ERROR_2 = 0x5482 ,   HARDWARE_ERROR_3 = 0x5483 , SIGN_OF_LIFE_ERROR = 0x6080 , EXTENSION_1_WATCHDOG_ERROR = 0x6081 , INTERNAL_SOFTWARE_ERROR = 0x6180 ,   SOFTWARE_PARAMETER_ERROR = 0x6320 , PERSISTENT_PARAMETER_CORRUPT_ERROR = 0x6380 , POSITION_SENSOR_ERROR = 0x7320 , POSITION_SENSOR_BREACH_ERROR = 0x7380 ,   POSITION_SENSOR_RESOLUTION_ERROR = 0x7381 , POSITION_SENSOR_INDEX_ERROR = 0x7382 , HALL_SENSOR_ERROR = 0x7388 , HALL_SENSOR_NOT_FOUND_ERROR = 0x7389 ,   HALL_ANGLE_DETECTION_ERROR = 0x738A , SSI_SENSOR_ERROR = 0x738C , SSI_SENSOR_FRAME_ERROR = 0x738D , MISSING_MAIN_SENSOR_ERROR = 0x7390 ,   MISSING_COMMUTATION_SENSOR_ERROR = 0x7391 , MAIN_SENSOR_DIRECTION_ERROR = 0x7392 , ETHERCAT_COMMUNCATION_ERROR = 0x8180 , ETHERCAT_INITIALIZATION_ERROR = 0x8181 ,   ETHERCAT_RX_QUEUE_OVERFLOW_ERROR = 0x8182 , ETHERCAT_COMMUNICATION_ERROR_INTERNAL = 0x8183 , ETHERCAT_COMMUNICATION_CYCLE_TIME_ERROR = 0x8184 , ETHERCAT_PDO_COMMUNICATION_ERROR = 0x8280 ,   ETHERCAT_SDO_COMMUNICATION_ERROR = 0x8281 , FOLLOWING_ERROR = 0x8611 , NEGATIVE_LIMIT_SWITCH_ERROR = 0x8A80 , POSITIVE_LIMIT_SWITCH_ERROR = 0x8A81 ,   SOFTWARE_POSITION_LIMIT_ERROR = 0x8A82 , STO_ERROR = 0x8A88 , SYSTEM_OVERLOADED_ERROR = 0xFF01 , WATCHDOG_ERROR = 0xFF02 ,   SYSTEM_PEAK_OVERLOADED_ERROR = 0XFF0B , CONTROLLER_GAIN_ERROR = 0xFF10 , AUTO_TUNING_INDENTIFICATION_ERROR = 0xFF11 , AUTO_TUNING_CURRENT_LIMIT_ERROR = 0xFF12 ,   AUTO_TUNING_IDENTIFICATION_CURRENT_ERROR = 0xFF13 , AUTO_TUNING_DATA_SAMPLING_ERROR = 0xFF14 , AUTO_TUNING_SAMPLE_MISMATCH_ERROR = 0xFF15 , AUTO_TUNING_PARAMETER_ERROR = 0xFF16 ,   AUTO_TUNING_AMPLITUDE_MISMATCH_ERROR = 0xFF17 , AUTO_TUNING_TIMEOUT_ERROR = 0xFF19 , AUTO_TUNING_STAND_STILL_ERROR = 0xFF20 , AUTO_TUNING_TORQUE_INVALID_ERROR = 0xFF21 ,   AUTO_TUNING_MAX_SYSTEM_SPEED_ERROR = 0XFF22 , AUTO_TUNING_MOTOR_CONNECTION_ERROR = 0xFF23 , AUTO_TUNING_SENSOR_SIGNAL_ERROR = 0XFF24 }

Functions
struct timespec	timespec_add (struct timespec time1, struct timespec time2)
	Add two timespec struct. More...
static std::string	GetErrorMessage (const int &err_code)

Variables
const uint32_t	g_kNumberOfServoDrivers = 1
const uint32_t	g_kNsPerSec = 1000000000
	Nanoseconds per second. More...
static volatile sig_atomic_t	sig = 1
ec_master_t *	g_master
	Extern global variable declaration. More...
ec_master_state_t	g_master_state
	EtherCAT master. More...
ec_domain_t *	g_master_domain
	EtherCAT master state. More...
ec_domain_state_t	g_master_domain_state
	Ethercat data passing master domain. More...
struct timespec	g_sync_timer
	EtherCAT master domain state. More...
const struct timespec	g_cycle_time = {0, PERIOD_NS}
	timer for DC sync . More...
uint32_t	g_sync_ref_counter
	cycletime settings in ns. More...

Macro Definition Documentation

CLOCK_TO_USE

#define CLOCK_TO_USE   CLOCK_MONOTONIC

Using Monotonic system-wide clock.

CUSTOM_SLAVE

#define CUSTOM_SLAVE   0

If you have EtherCAT slave different than CiA402 supported motor drive, set this macro to 1

Note

That you'll have to manually specify PDO mapping for your custom slave.

CYCLIC_POSITION_MODE

#define CYCLIC_POSITION_MODE   0

set this to 1 if you want to use it in cyclic synchronous position mode (and set other modes 0)

CYCLIC_TORQUE_MODE

#define CYCLIC_TORQUE_MODE   0

set this to 1 if you want to use it in cyclic synchronous torque mode (and set other modes 0)

CYCLIC_VELOCITY_MODE

#define CYCLIC_VELOCITY_MODE   0

set this to 1 if you want to use it in cyclic synchronous velocity mode (and set other modes 0)

DIFF_NS

#define DIFF_NS	(		A,
			B
	)		(((B).tv_sec - (A).tv_sec) * g_kNsPerSec + (B).tv_nsec - (A).tv_nsec)

DISTRIBUTED_CLOCK

#define DISTRIBUTED_CLOCK   1

set this to 1 if you want to activate distributed clock, by default leave it 1.

ENCODER_RESOLUTION

#define ENCODER_RESOLUTION   1024

Motor encoder resolution.

FIVE_DEGREE_CCW

#define FIVE_DEGREE_CCW   int(INC_PER_ROTATION/72)

FREQUENCY

#define FREQUENCY   1000

Ethercat PDO exchange loop frequency in Hz

GEAR_RATIO

#define GEAR_RATIO   103

If you are using geared motor define ratio

Note

If you have different types of motors in your system you may need to create different macros for them.

INC_PER_ROTATION

#define INC_PER_ROTATION   GEAR_RATIO*ENCODER_RESOLUTION*4

MEASURE_TIMING

#define MEASURE_TIMING   1

If you want to measure timings leave it as one, otherwise make it 0.

NUM_OF_SLAVES

#define NUM_OF_SLAVES   1

Total number of connected slave to the bus.

PERIOD_MS

#define PERIOD_MS   (PERIOD_US / 1000)

PERIOD_NS

#define PERIOD_NS   (g_kNsPerSec/FREQUENCY)

PERIOD_US

#define PERIOD_US   (PERIOD_NS / 1000)

POSITION_MODE

#define POSITION_MODE   0

set this to 1 if you want to use it in position mode (and set other modes 0)

RESET_BIT

#define RESET_BIT	(		NUM,
			N
	)		(NUM & ~(1 << N))

SET_BIT

#define SET_BIT	(		NUM,
			N
	)		(NUM | (1 << N))

TEST_BIT

#define TEST_BIT	(		NUM,
			N
	)		((NUM & (1 << N))>>N)

To sync every cycle.

THIRTY_DEGREE_CCW

#define THIRTY_DEGREE_CCW   int(INC_PER_ROTATION/12)

TIMESPEC2NS

#define TIMESPEC2NS

(

T

)

((uint64_t) (T).tv_sec * g_kNsPerSec + (T).tv_nsec)

Convert timespec struct to nanoseconds.

VELOCITY_MODE

#define VELOCITY_MODE   1

set this to 1 if you want to use it in velocity mode (and set other modes 0)

Enumeration Type Documentation

ControlStructureBits

enum ControlStructureBits

Control structure configuration for control mechanism to select sensor structure specific to hardware.

See also

EPOS4-Firmware-Specification pg. 140

Enumerator
kCurrentControlStructure	These are bit locations not values for values. See also EPOS4-Firmware-Specification pg. 140 !!!
kVelocityControlStructure
kPositionControlStructure
kGearLocation
kProcessValueReference
kMainSensor
kAuxiliarySensor
kMountingPositionSensor1
kMountingPositionSensor2
kMountingPositionSensor3

ErrorRegisterBits

enum ErrorRegisterBits

CiA402 Error register bits for error index.

Enumerator
kGenericError
kCurrentError
kVoltageError
kTemperatureError
kCommunicationError
kDeviceProfileSpecificError
kReserved
kMotionError

ErrorType

enum ErrorType

Enumerator
NO_ERROR
GENERIC_ERROR
GENERIC_INIT_ERROR
GENERIC_INIT_ERROR_1
GENERIC_INIT_ERROR_2
GENERIC_INIT_ERROR_3
GENERIC_INIT_ERROR_4
GENERIC_INIT_ERROR_5
GENERIC_INIT_ERROR_6
GENERIC_INIT_ERROR_7
GENERIC_INIT_ERROR_8
FIRMWARE_INCOMPATIBLITY_ERROR
OVER_CURRENT_ERROR
POWER_STAGE_PROTECTION_ERROR
OVER_VOLTAGE_ERROR
UNDER_VOLTAGE_ERROR
THERMAL_OVERLOAD_ERROR
THERMAL_MOTOR_OVERLOAD_ERRROR
LOGIC_SUPPLY_TOO_LOW_ERROR
HARDWARE_DEFECT_ERROR
HARDWARE_INCOMPATIBLITY_ERROR
HARDWARE_ERROR
HARDWARE_ERROR_1
HARDWARE_ERROR_2
HARDWARE_ERROR_3
SIGN_OF_LIFE_ERROR
EXTENSION_1_WATCHDOG_ERROR
INTERNAL_SOFTWARE_ERROR
SOFTWARE_PARAMETER_ERROR
PERSISTENT_PARAMETER_CORRUPT_ERROR
POSITION_SENSOR_ERROR
POSITION_SENSOR_BREACH_ERROR
POSITION_SENSOR_RESOLUTION_ERROR
POSITION_SENSOR_INDEX_ERROR
HALL_SENSOR_ERROR
HALL_SENSOR_NOT_FOUND_ERROR
HALL_ANGLE_DETECTION_ERROR
SSI_SENSOR_ERROR
SSI_SENSOR_FRAME_ERROR
MISSING_MAIN_SENSOR_ERROR
MISSING_COMMUTATION_SENSOR_ERROR
MAIN_SENSOR_DIRECTION_ERROR
ETHERCAT_COMMUNCATION_ERROR
ETHERCAT_INITIALIZATION_ERROR
ETHERCAT_RX_QUEUE_OVERFLOW_ERROR
ETHERCAT_COMMUNICATION_ERROR_INTERNAL
ETHERCAT_COMMUNICATION_CYCLE_TIME_ERROR
ETHERCAT_PDO_COMMUNICATION_ERROR
ETHERCAT_SDO_COMMUNICATION_ERROR
FOLLOWING_ERROR
NEGATIVE_LIMIT_SWITCH_ERROR
POSITIVE_LIMIT_SWITCH_ERROR
SOFTWARE_POSITION_LIMIT_ERROR
STO_ERROR
SYSTEM_OVERLOADED_ERROR
WATCHDOG_ERROR
SYSTEM_PEAK_OVERLOADED_ERROR
CONTROLLER_GAIN_ERROR
AUTO_TUNING_INDENTIFICATION_ERROR
AUTO_TUNING_CURRENT_LIMIT_ERROR
AUTO_TUNING_IDENTIFICATION_CURRENT_ERROR
AUTO_TUNING_DATA_SAMPLING_ERROR
AUTO_TUNING_SAMPLE_MISMATCH_ERROR
AUTO_TUNING_PARAMETER_ERROR
AUTO_TUNING_AMPLITUDE_MISMATCH_ERROR
AUTO_TUNING_TIMEOUT_ERROR
AUTO_TUNING_STAND_STILL_ERROR
AUTO_TUNING_TORQUE_INVALID_ERROR
AUTO_TUNING_MAX_SYSTEM_SPEED_ERROR
AUTO_TUNING_MOTOR_CONNECTION_ERROR
AUTO_TUNING_SENSOR_SIGNAL_ERROR

LifeCycleState

enum LifeCycleState

Class states.

Enumerator
FAILURE
SUCCESS
TRANSITIONING

MotorStates

enum MotorStates

CIA 402 state machine motor states.

Enumerator
kReadyToSwitchOn
kSwitchedOn
kOperationEnabled
kFault
kVoltageEnabled
kQuickStop
kSwitchOnDisabled
kWarning
kRemote
kTargetReached
kInternalLimitActivate

OpMode

enum OpMode

Motor operation modes based on CiA402.

Enumerator
kProfilePosition
kProfileVelocity
kProfileTorque
kHoming
kInterpolatedPosition
kCSPosition
kCSVelocity
kCSTorque

SensorConfig

enum SensorConfig

Sensor Configuration for motor for more information

See also

EPOS4-Firmware-Specification pdf Pg.138 on : https://www.maxongroup.com/medias/sys_master/root/8834324856862/EPOS4-Firmware-Specification-En.pdf

Enumerator
kSensor1TypeNone
kSensor1TypeDigitalIncrementalEncoder1
kSensor2TypeNone
kSensor2TypeDigitalIncrementalEncoder2
kSensor2TypeAnalogIncrementalEncoderSinCos
kSensor2TypeSSIAbsoluteEncoder
kSensor3TypeNone
kSensor3TypeDigitalHallSensor

Function Documentation

GetErrorMessage()

static std::string GetErrorMessage ( const int &  err_code )

static

timespec_add()

struct timespec timespec_add ( struct timespec  time1, struct timespec  time2  )

inline

Add two timespec struct.

Parameters

time1	Timespec struct 1
time2	Timespec struct 2

Returns

Addition result

Variable Documentation

g_cycle_time

const struct timespec g_cycle_time = {0, PERIOD_NS}

timer for DC sync .

g_kNsPerSec

const uint32_t g_kNsPerSec = 1000000000

Nanoseconds per second.

g_kNumberOfServoDrivers

const uint32_t g_kNumberOfServoDrivers = 1

Number of connected servo drives.

Note

If you are using custom slaves (not servo drives) this value must be different than NUM_OF_SLAVES.

g_master

ec_master_t* g_master

extern

Extern global variable declaration.

g_master_domain

ec_domain_t* g_master_domain

extern

EtherCAT master state.

g_master_domain_state

ec_domain_state_t g_master_domain_state

extern

Ethercat data passing master domain.

g_master_state

ec_master_state_t g_master_state

extern

EtherCAT master.

g_sync_ref_counter

uint32_t g_sync_ref_counter

extern

cycletime settings in ns.

g_sync_timer

struct timespec g_sync_timer

extern

EtherCAT master domain state.

sig

volatile sig_atomic_t sig = 1

static