Drive.h File Reference

The Drive class is used to interface with a CANOpen motor drive. According to the CiA402 standard. More...

#include <CANopen.h>
#include <CO_command.h>
#include <string.h>
#include <map>
#include <sstream>
#include <vector>

Include dependency graph for Drive.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	motorProfile
	struct to hold desired velocity, acceleration and deceleration values for a drives motor controller profile. More...
class	Drive
	Abstract class describing a Drive used to communicate with a CANbus device. Note that many functions are implemented according to the CiA 402 Standard (but can be overridden) More...

Enumerations
enum	ControlMode {   UNCONFIGURED = 0, POSITION_CONTROL = 1, VELOCITY_CONTROL = 2, TORQUE_CONTROL = 3,   ERROR = -1 }
enum	DriveState { DISABLED = 0, READY_TO_SWITCH_ON = 1, ENABLED = 2 }
enum	OD_Entry_t {   STATUS_WORD = 0, ACTUAL_POS = 1, ACTUAL_VEL = 2, ACTUAL_TOR = 3,   TARGET_POS = 11, TARGET_VEL = 12 }

Detailed Description

The Drive class is used to interface with a CANOpen motor drive. According to the CiA402 standard.

Author

Justin Fong This class enables low level functions to the system. It does limited error checking.

Version

0.1

Date

2020-04-07

Version

0.1

Copyright

Copyright (c) 2020

Definition in file Drive.h.

Enumeration Type Documentation

enum ControlMode

An enum type. Constants representing the control mode of the drive

Enumerator
UNCONFIGURED
POSITION_CONTROL
VELOCITY_CONTROL
TORQUE_CONTROL
ERROR

Definition at line 32 of file Drive.h.

enum DriveState

An enum type. Constants representing the Drives State

Enumerator
DISABLED
READY_TO_SWITCH_ON
ENABLED

Definition at line 43 of file Drive.h.

enum OD_Entry_t

An enum type Commonly-used entries defined in the Object Dictionary for CiA402 Drives

Enumerator
STATUS_WORD
ACTUAL_POS
ACTUAL_VEL
ACTUAL_TOR
TARGET_POS
TARGET_VEL

Definition at line 54 of file Drive.h.