Collection of classes and utilities to interface with CANopen.
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enum class | roboticslab::DriveState {
roboticslab::NOT_READY_TO_SWITCH_ON
, roboticslab::SWITCH_ON_DISABLED
, roboticslab::READY_TO_SWITCH_ON
, roboticslab::SWITCHED_ON
,
roboticslab::OPERATION_ENABLED
, roboticslab::QUICK_STOP_ACTIVE
, roboticslab::FAULT_REACTION_ACTIVE
, roboticslab::FAULT
} |
| CiA 402 drive states (associated to statusword). More...
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enum class | roboticslab::DriveTransition : std::uint16_t {
roboticslab::SHUTDOWN = 0x0006
, roboticslab::SWITCH_ON = 0x0007
, roboticslab::DISABLE_VOLTAGE = 0x0000
, roboticslab::QUICK_STOP = 0x0002
,
roboticslab::ENABLE_OPERATION = 0x000F
, roboticslab::FAULT_RESET = 0x0080
, roboticslab::DISABLE_OPERATION = SWITCH_ON
} |
| CiA 402 drive transitions (associated to controlword). More...
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enum class | roboticslab::NmtService : std::uint8_t {
roboticslab::START_REMOTE_NODE = 1
, roboticslab::STOP_REMOTE_NODE = 2
, roboticslab::ENTER_PRE_OPERATIONAL = 128
, roboticslab::RESET_NODE = 129
,
roboticslab::RESET_COMMUNICATION = 130
} |
| NMT service commands. More...
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enum class | roboticslab::NmtState : std::uint8_t { roboticslab::BOOTUP = 0
, roboticslab::STOPPED = 4
, roboticslab::OPERATIONAL = 5
, roboticslab::PRE_OPERATIONAL = 127
} |
| NMT state machine. More...
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◆ DriveState
Enumerator |
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NOT_READY_TO_SWITCH_ON | Not ready to switch on state.
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SWITCH_ON_DISABLED | Switch on disabled state.
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READY_TO_SWITCH_ON | Ready to switch on state.
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SWITCHED_ON | Switched on (operation disabled) state.
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OPERATION_ENABLED | Operation enabled state.
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QUICK_STOP_ACTIVE | Quick stop active state.
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FAULT_REACTION_ACTIVE | Fault reaction active state.
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FAULT | Fault state.
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◆ DriveTransition
Enumerator |
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SHUTDOWN | Shutdown command (xxxx.xxxx.0xxx.x110)
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SWITCH_ON | Switch on command (xxxx.xxxx.0xxx.0111)
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DISABLE_VOLTAGE | Disable voltage command (xxxx.xxxx.0xxx.xx0x)
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QUICK_STOP | Quick stop command (xxxx.xxxx.0xxx.x01x)
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ENABLE_OPERATION | Enable operation command (xxxx.xxxx.0xxx.1111)
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FAULT_RESET | Reset fault command (xxxx.xxxx.1xxx.xxxx)
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DISABLE_OPERATION | Disable operation command, alias for DriveTransition::SWITCH_ON.
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◆ NmtService
Enumerator |
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START_REMOTE_NODE | Start remote node indication.
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STOP_REMOTE_NODE | Stop remote node indication.
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ENTER_PRE_OPERATIONAL | Enter pre-operational indication.
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RESET_NODE | Reset node indication.
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RESET_COMMUNICATION | Reset communication indication.
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◆ NmtState
Enumerator |
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BOOTUP | Initial bootup.
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STOPPED | Stopped state.
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OPERATIONAL | Operational state.
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PRE_OPERATIONAL | Pre-operational state.
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