CanOpenNodeLib

Collection of classes and utilities to interface with CANopen. More...

Classes
class	roboticslab::CanOpenNode
	Wrapper for CAN protocol handles with handy accessors. More...
class	roboticslab::DriveStatusMachine
	Representation of a CiA 402 state machine controller. More...
class	roboticslab::EmcyCodeRegistry
	Generic EMCY message parser. More...
class	roboticslab::EmcyConsumer
	Representation of CAN EMCY protocol. More...
class	roboticslab::NmtProtocol
	Representation of NMT protocol. More...
class	roboticslab::PdoTransmissionType
	Wrapped enumeration of a PDO transmission type. More...
class	roboticslab::PdoConfiguration
	Set of SDO configuration values for a PdoProtocol. More...
class	roboticslab::PdoProtocol
	Abstract representation of PDO protocol. More...
class	roboticslab::ReceivePdo
	Representation of RPDO protocol. More...
class	roboticslab::TransmitPdo
	Representation of TPDO protocol. More...
class	roboticslab::SdoClient
	Representation of SDO client protocol. More...

Enumerations
enum class	roboticslab::DriveState {   roboticslab::DriveState::NOT_READY_TO_SWITCH_ON , roboticslab::DriveState::SWITCH_ON_DISABLED , roboticslab::DriveState::READY_TO_SWITCH_ON , roboticslab::DriveState::SWITCHED_ON ,   roboticslab::DriveState::OPERATION_ENABLED , roboticslab::DriveState::QUICK_STOP_ACTIVE , roboticslab::DriveState::FAULT_REACTION_ACTIVE , roboticslab::DriveState::FAULT }
	CiA 402 drive states (associated to statusword). More...
enum class	roboticslab::DriveTransition : std::uint16_t {   roboticslab::DriveTransition::SHUTDOWN = 0x0006 , roboticslab::DriveTransition::SWITCH_ON = 0x0007 , roboticslab::DriveTransition::DISABLE_VOLTAGE = 0x0000 , roboticslab::DriveTransition::QUICK_STOP = 0x0002 ,   roboticslab::DriveTransition::ENABLE_OPERATION = 0x000F , roboticslab::DriveTransition::FAULT_RESET = 0x0080 , roboticslab::DriveTransition::DISABLE_OPERATION = SWITCH_ON }
	CiA 402 drive transitions (associated to controlword). More...
enum class	roboticslab::NmtService : std::uint8_t {   roboticslab::NmtService::START_REMOTE_NODE = 1 , roboticslab::NmtService::STOP_REMOTE_NODE = 2 , roboticslab::NmtService::ENTER_PRE_OPERATIONAL = 128 , roboticslab::NmtService::RESET_NODE = 129 ,   roboticslab::NmtService::RESET_COMMUNICATION = 130 }
	NMT service commands. More...
enum class	roboticslab::NmtState : std::uint8_t { roboticslab::NmtState::BOOTUP = 0 , roboticslab::NmtState::STOPPED = 4 , roboticslab::NmtState::OPERATIONAL = 5 , roboticslab::NmtState::PRE_OPERATIONAL = 127 }
	NMT state machine. More...

Detailed Description

Enumeration Type Documentation

DriveState

enum class roboticslab::DriveState

strong

Enumerator
NOT_READY_TO_SWITCH_ON	Not ready to switch on state.
SWITCH_ON_DISABLED	Switch on disabled state.
READY_TO_SWITCH_ON	Ready to switch on state.
SWITCHED_ON	Switched on (operation disabled) state.
OPERATION_ENABLED	Operation enabled state.
QUICK_STOP_ACTIVE	Quick stop active state.
FAULT_REACTION_ACTIVE	Fault reaction active state.
FAULT	Fault state.

DriveTransition

enum class roboticslab::DriveTransition : std::uint16_t

strong

Enumerator
SHUTDOWN	Shutdown command (xxxx.xxxx.0xxx.x110)
SWITCH_ON	Switch on command (xxxx.xxxx.0xxx.0111)
DISABLE_VOLTAGE	Disable voltage command (xxxx.xxxx.0xxx.xx0x)
QUICK_STOP	Quick stop command (xxxx.xxxx.0xxx.x01x)
ENABLE_OPERATION	Enable operation command (xxxx.xxxx.0xxx.1111)
FAULT_RESET	Reset fault command (xxxx.xxxx.1xxx.xxxx)
DISABLE_OPERATION	Disable operation command, alias for DriveTransition::SWITCH_ON.

NmtService

enum class roboticslab::NmtService : std::uint8_t

strong

Enumerator
START_REMOTE_NODE	Start remote node indication.
STOP_REMOTE_NODE	Stop remote node indication.
ENTER_PRE_OPERATIONAL	Enter pre-operational indication.
RESET_NODE	Reset node indication.
RESET_COMMUNICATION	Reset communication indication.

NmtState

enum class roboticslab::NmtState : std::uint8_t

strong

Enumerator
BOOTUP	Initial bootup.
STOPPED	Stopped state.
OPERATIONAL	Operational state.
PRE_OPERATIONAL	Pre-operational state.