EtherCAT Control Framework v0.9
Implementation of EtherCAT protocol using IgH EtherCAT library for robot controller.
Public Attributes | List of all members
HomingParam Struct Reference

Homing mode configuration parameters. More...

#include <ecat_globals.hpp>

Public Attributes

uint32_t max_fol_err
 
uint32_t max_profile_vel
 
uint32_t quick_stop_dec
 
uint32_t speed_for_switch_search
 
uint32_t speed_for_zero_search
 
uint32_t homing_acc
 
uint16_t curr_threshold_homing
 Used when homing by touching mechanical limit and sensing current. More...
 
int32_t home_offset
 Amount to move away from the sensed limit
More...
 
int8_t homing_method
 

Detailed Description

Homing mode configuration parameters.

Member Data Documentation

◆ curr_threshold_homing

uint16_t HomingParam::curr_threshold_homing

Used when homing by touching mechanical limit and sensing current.

◆ home_offset

int32_t HomingParam::home_offset

Amount to move away from the sensed limit

◆ homing_acc

uint32_t HomingParam::homing_acc

◆ homing_method

int8_t HomingParam::homing_method

◆ max_fol_err

uint32_t HomingParam::max_fol_err

◆ max_profile_vel

uint32_t HomingParam::max_profile_vel

◆ quick_stop_dec

uint32_t HomingParam::quick_stop_dec

◆ speed_for_switch_search

uint32_t HomingParam::speed_for_switch_search

◆ speed_for_zero_search

uint32_t HomingParam::speed_for_zero_search
The documentation for this struct was generated from the following file: