#include <MitsubishiH7.h>

Inheritance diagram for rl::hal::MitsubishiH7:

[legend]

Classes
struct	CalibState

struct	EditSts

struct	Hand

struct	MxtCommand

struct	MxtJoint

struct	MxtPose

struct	MxtPulse

struct	MxtWorld

struct	RunState

struct	RunSts

struct	StopSignalState

struct	StopState

struct	StopSts

Public Types
enum	Mode { MODE_JOINT = 1, MODE_POSE = 0, MODE_PULSE = 2 }

enum	HandSts { HANDSTS_NOTUSED = -1, HANDSTS_OPEN = 1, HANDSTS_CLOSED = 2 }

enum	HandType { HANDTYPE_NOTUSED = -1, HANDTYPE_SINGLE = 0, HANDTYPE_DOUBLE = 1 }

enum	TaskCond { TASKCOND_START, TASKCOND_ALWAYS, TASKCOND_ERROR }

typedef bool	MechInfo[3]
	Mech info (Mech 1, Mech 2, Mech 3). More...

typedef Hand	HandState[8]

Public Member Functions
	MitsubishiH7 (const ::std::size_t &dof, const ::std::string &server, const ::std::string &client, const unsigned short int &tcp=10001, const unsigned short int &udp=10000, const Mode &mode=MODE_JOINT, const uint16_t &haltIoData=0x00AA, const uint16_t &releaseIoData=0x00A6, const uint16_t &shutIoData=0x000A9)

virtual	~MitsubishiH7 ()

void	calibCmd (CalibState &state) const
	The install status is read. More...

void	close ()

void	cntlCmd (const bool &doOn) const
	Operation enable or disable. More...

void	datinstCmd (const ::std::string &j1, const ::std::string &j2, const ::std::string &j3, const ::std::string &j4, const ::std::string &j5, const ::std::string &j6, const ::std::string &checksum) const
	The origin is set by the data input. More...

void	datinstCmd (const ::std::string &j1, const ::std::string &j2, const ::std::string &j3, const ::std::string &j4, const ::std::string &j5, const ::std::string &j6, const ::std::string &j7, const ::std::string &j8, const ::std::string &checksum) const
	The origin is set by the data input. More...

void	dstateCmd (StopState &state) const
	The stop state is read. More...

void	eclrCmd () const
	Clear program contents. More...

void	emdatCmd (const ::std::string &program) const
	More line and position are registered in the program. More...

::std::string	errormesCmd (const int &errorNo) const
	The content of the error is read. More...

void	execCmd (const ::std::string &instruction) const
	The instruction is executed directly. More...

void	getCartesianPosition (::rl::math::Transform &x) const

void	getCurrentFeedback (::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > &c) const

::std::size_t	getFilter () const

uint16_t	getIoData () const

void	getJointPosition (::rl::math::Vector &q) const

Mode	getMode () const

void	getMotorPulse (::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > &p) const

void	halt ()

void	hndCmd (const bool &doOpen, const int &handNo) const
	The hand is openend and closed. More...

void	hndstsCmd (HandState &state) const
	The setting and the output of the hand are read. More...

void	inEqualsCmd (const ::std::size_t &inNo, const ::std::string &inVal) const
	The input signal is pseudo-input. More...

void	loadCmd (const ::std::string &programName) const
	Open the program for edit. More...

void	loadProgram (const ::std::string &name, const ::std::string &program) const

void	newCmd () const
	The program is closed annulling the content of the edit. More...

void	open ()

void	outEqualsCmd (const ::std::size_t &outNo, const ::std::string &outVal) const
	The output signal is compelling output. More...

void	release ()

void	rstalrmCmd () const
	The error is reset. More...

void	rstpwrCmd () const
	Power supply reset (reboot) of the controller is executed. More...

void	runCmd (const ::std::string &programName, const bool &doModeCycle=false) const
	The program is started. More...

void	saveCmd () const
	The content of the edit is preserved and the program is closed. More...

void	setCartesianPosition (const ::rl::math::Transform &x)

void	setFilter (const ::std::size_t &filter)

void	setInput (const uint16_t &bitTop)

void	setJointPosition (const ::rl::math::Vector &q)

void	setMode (const Mode &mode)

void	setMotorPulse (const ::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > &p)

void	setOutput (const uint16_t &bitTop, const uint16_t &bitMask, const uint16_t &ioData)

void	shut ()

void	slotinitCmd () const
	The program resets all slots. More...

void	srvCmd (const bool &doOn) const
	The servo power supply is turned on and off. More...

void	start ()

void	startProgram (const ::std::string &name) const

void	stateCmd (RunState &state) const
	The run state is read. More...

void	step ()

void	stopCmd () const
	The start is stopped. More...

void	stop ()

void	stopProgram () const

void	stpsigCmd (StopSignalState &state) const
	The state of the stop signal is read. More...

Public Member Functions inherited from rl::hal::CartesianPositionActuator
	CartesianPositionActuator (const ::std::size_t &dof, const ::rl::math::Real &updateRate)

virtual	~CartesianPositionActuator ()

Public Member Functions inherited from rl::hal::AxisController
	AxisController (const ::std::size_t &dof, const ::rl::math::Real &updateRate)

virtual	~AxisController ()

::std::size_t	getDof () const

virtual ::rl::math::Real	getUpdateRate () const

Public Member Functions inherited from rl::hal::Device
	Device ()

virtual	~Device ()

bool	isConnected () const

bool	isRunning () const

Public Member Functions inherited from rl::hal::CartesianPositionSensor
	CartesianPositionSensor (const ::std::size_t &dof, const ::rl::math::Real &updateRate)

virtual	~CartesianPositionSensor ()

Public Member Functions inherited from rl::hal::Gripper
	Gripper ()

virtual	~Gripper ()

Public Member Functions inherited from rl::hal::JointPositionActuator
	JointPositionActuator (const ::std::size_t &dof, const ::rl::math::Real &updateRate)

virtual	~JointPositionActuator ()

Public Member Functions inherited from rl::hal::JointPositionSensor
	JointPositionSensor (const ::std::size_t &dof, const ::rl::math::Real &updateRate)

virtual	~JointPositionSensor ()

Private Attributes
::std::string	client
	Client ip address or hostname. More...

::std::size_t	filter
	Internal filter value. More...

uint16_t	haltIoData

MxtCommand	in

Mode	mode

MxtCommand	out

uint16_t	releaseIoData

::std::string	server
	Server ip address or hostname. More...

uint16_t	shutIoData

TcpSocket *	tcp

UdpSocket *	udp

Additional Inherited Members
Protected Member Functions inherited from rl::hal::Device
void	setConnected (const bool &connected)

void	setRunning (const bool &running)

Member Typedef Documentation

◆ HandState

typedef Hand rl::hal::MitsubishiH7::HandState[8]

◆ MechInfo

typedef bool rl::hal::MitsubishiH7::MechInfo[3]

Mech info (Mech 1, Mech 2, Mech 3).

Member Enumeration Documentation

◆ HandSts

enum rl::hal::MitsubishiH7::HandSts

Enumerator
HANDSTS_NOTUSED
HANDSTS_OPEN	Hand open.
HANDSTS_CLOSED	Hand closed.

◆ HandType

enum rl::hal::MitsubishiH7::HandType

Enumerator
HANDTYPE_NOTUSED
HANDTYPE_SINGLE	Single-solenoid.
HANDTYPE_DOUBLE	Double-solenoid.

◆ Mode

enum rl::hal::MitsubishiH7::Mode

Enumerator
MODE_JOINT
MODE_POSE
MODE_PULSE

◆ TaskCond

enum rl::hal::MitsubishiH7::TaskCond

Enumerator
TASKCOND_START	START.
TASKCOND_ALWAYS	ALWAYS.
TASKCOND_ERROR	ERROR.

Constructor & Destructor Documentation

◆ MitsubishiH7()

rl::hal::MitsubishiH7::MitsubishiH7	(	const ::std::size_t &	dof,
		const ::std::string &	server,
		const ::std::string &	client,
		const unsigned short int &	tcp = `10001`,
		const unsigned short int &	udp = `10000`,
		const Mode &	mode = `MODE_JOINT`,
		const uint16_t &	haltIoData = `0x00AA`,
		const uint16_t &	releaseIoData = `0x00A6`,
		const uint16_t &	shutIoData = `0x000A9`
	)

◆ ~MitsubishiH7()

rl::hal::MitsubishiH7::~MitsubishiH7 ( )

virtual

Member Function Documentation

◆ calibCmd()

void rl::hal::MitsubishiH7::calibCmd ( CalibState & state ) const

The install status is read.

Parameters

state install state

◆ close()

void rl::hal::MitsubishiH7::close ( )

virtual

Precondition: stop()

Implements rl::hal::Device.

◆ cntlCmd()

void rl::hal::MitsubishiH7::cntlCmd ( const bool & doOn ) const

Operation enable or disable.

When the command which needs the operation right such as program start, servo ON and more is used, the operation right should be made effective.

Parameters

doOn OFF / ON

◆ datinstCmd() [1/2]

void rl::hal::MitsubishiH7::datinstCmd	(	const ::std::string &	j1,
		const ::std::string &	j2,
		const ::std::string &	j3,
		const ::std::string &	j4,
		const ::std::string &	j5,
		const ::std::string &	j6,
		const ::std::string &	checksum
	)		const

The origin is set by the data input.

Parameters

j1	j1 data
j2	j2 data
j3	j3 data
j4	j4 data
j5	j5 data
j6	j6 data
checksum	checksum

◆ datinstCmd() [2/2]

void rl::hal::MitsubishiH7::datinstCmd	(	const ::std::string &	j1,
		const ::std::string &	j2,
		const ::std::string &	j3,
		const ::std::string &	j4,
		const ::std::string &	j5,
		const ::std::string &	j6,
		const ::std::string &	j7,
		const ::std::string &	j8,
		const ::std::string &	checksum
	)		const

The origin is set by the data input.

Parameters

j1	j1 data
j2	j2 data
j3	j3 data
j4	j4 data
j5	j5 data
j6	j6 data
j7	j7 data
j8	j8 data
checksum	checksum

◆ dstateCmd()

void rl::hal::MitsubishiH7::dstateCmd ( StopState & state ) const

The stop state is read.

Parameters

state stop state

◆ eclrCmd()

void rl::hal::MitsubishiH7::eclrCmd ( ) const

Clear program contents.

It is effective in the edit slot.

◆ emdatCmd()

void rl::hal::MitsubishiH7::emdatCmd ( const ::std::string & program ) const

More line and position are registered in the program.

It is effective in the edit slot.

Parameters

program line data and positional data (<line or position>[0b<line or position>...])

◆ errormesCmd()

std::string rl::hal::MitsubishiH7::errormesCmd ( const int & errorNo ) const

The content of the error is read.

Parameters

errorNo error number

Returns: content of the error

◆ execCmd()

void rl::hal::MitsubishiH7::execCmd ( const ::std::string & instruction ) const

The instruction is executed directly.

Parameters

instruction instruction of MELFA-BASIC IV or MOVEMASTER commands

◆ getCartesianPosition()

void rl::hal::MitsubishiH7::getCartesianPosition ( ::rl::math::Transform & x ) const

virtual

Implements rl::hal::CartesianPositionSensor.

◆ getCurrentFeedback()

void rl::hal::MitsubishiH7::getCurrentFeedback ( ::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > & c ) const

◆ getFilter()

std::size_t rl::hal::MitsubishiH7::getFilter ( ) const

◆ getIoData()

uint16_t rl::hal::MitsubishiH7::getIoData ( ) const

◆ getJointPosition()

void rl::hal::MitsubishiH7::getJointPosition ( ::rl::math::Vector & q ) const

virtual

Implements rl::hal::JointPositionSensor.

◆ getMode()

MitsubishiH7::Mode rl::hal::MitsubishiH7::getMode ( ) const

◆ getMotorPulse()

void rl::hal::MitsubishiH7::getMotorPulse ( ::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > & p ) const

◆ halt()

void rl::hal::MitsubishiH7::halt ( )

virtual

Implements rl::hal::Gripper.

◆ hndCmd()

void rl::hal::MitsubishiH7::hndCmd	(	const bool &	doOpen,
		const int &	handNo
	)		const

The hand is openend and closed.

Parameters

doOpen	CLOSE / OPEN
handNo	hand number (1 - 8) is specified

◆ hndstsCmd()

void rl::hal::MitsubishiH7::hndstsCmd ( HandState & state ) const

The setting and the output of the hand are read.

Parameters

state hand state

◆ inEqualsCmd()

void rl::hal::MitsubishiH7::inEqualsCmd	(	const ::std::size_t &	inNo,
		const ::std::string &	inVal
	)		const

The input signal is pseudo-input.

Parameters

inNo	input signal number
inVal	pseudo-input signal value by 4 hex number fixation

◆ loadCmd()

void rl::hal::MitsubishiH7::loadCmd ( const ::std::string & programName ) const

Open the program for edit.

Parameters

programName edit program name

◆ loadProgram()

void rl::hal::MitsubishiH7::loadProgram	(	const ::std::string &	name,
		const ::std::string &	program
	)		const

◆ newCmd()

void rl::hal::MitsubishiH7::newCmd ( ) const

The program is closed annulling the content of the edit.

◆ open()

void rl::hal::MitsubishiH7::open ( )

virtual

Implements rl::hal::Device.

◆ outEqualsCmd()

void rl::hal::MitsubishiH7::outEqualsCmd	(	const ::std::size_t &	outNo,
		const ::std::string &	outVal
	)		const

The output signal is compelling output.

Parameters

outNo	output signal number
outVal	output signal value by 4 hex number fixation

◆ release()

void rl::hal::MitsubishiH7::release ( )

virtual

Implements rl::hal::Gripper.

◆ rstalrmCmd()

void rl::hal::MitsubishiH7::rstalrmCmd ( ) const

The error is reset.

◆ rstpwrCmd()

void rl::hal::MitsubishiH7::rstpwrCmd ( ) const

Power supply reset (reboot) of the controller is executed.

◆ runCmd()

void rl::hal::MitsubishiH7::runCmd	(	const ::std::string &	programName,
		const bool &	doModeCycle = `false`
	)		const

The program is started.

Parameters

programName	program name
doModeCycle	repeat start / cycle start

◆ saveCmd()

void rl::hal::MitsubishiH7::saveCmd ( ) const

The content of the edit is preserved and the program is closed.

◆ setCartesianPosition()

void rl::hal::MitsubishiH7::setCartesianPosition ( const ::rl::math::Transform & x )

virtual

Implements rl::hal::CartesianPositionActuator.

◆ setFilter()

void rl::hal::MitsubishiH7::setFilter ( const ::std::size_t & filter )

◆ setInput()

void rl::hal::MitsubishiH7::setInput ( const uint16_t & bitTop )

◆ setJointPosition()

void rl::hal::MitsubishiH7::setJointPosition ( const ::rl::math::Vector & q )

virtual

Implements rl::hal::JointPositionActuator.

◆ setMode()

void rl::hal::MitsubishiH7::setMode ( const Mode & mode )

◆ setMotorPulse()

void rl::hal::MitsubishiH7::setMotorPulse ( const ::Eigen::Matrix< int32_t, ::Eigen::Dynamic, 1 > & p )

◆ setOutput()

void rl::hal::MitsubishiH7::setOutput	(	const uint16_t &	bitTop,
		const uint16_t &	bitMask,
		const uint16_t &	ioData
	)

◆ shut()

void rl::hal::MitsubishiH7::shut ( )

virtual

Implements rl::hal::Gripper.

◆ slotinitCmd()

void rl::hal::MitsubishiH7::slotinitCmd ( ) const

The program resets all slots.

◆ srvCmd()

void rl::hal::MitsubishiH7::srvCmd ( const bool & doOn ) const

The servo power supply is turned on and off.

Parameters

doOn OFF / ON

◆ start()

void rl::hal::MitsubishiH7::start ( )

virtual

Precondition: open()

Implements rl::hal::Device.

◆ startProgram()

void rl::hal::MitsubishiH7::startProgram ( const ::std::string & name ) const

◆ stateCmd()

void rl::hal::MitsubishiH7::stateCmd ( RunState & state ) const

The run state is read.

Parameters

state run state

◆ step()

void rl::hal::MitsubishiH7::step ( )

virtual

Precondition: start()

Implements rl::hal::Device.

◆ stop()

void rl::hal::MitsubishiH7::stop ( )

virtual

Precondition: open()

Implements rl::hal::Device.

◆ stopCmd()

void rl::hal::MitsubishiH7::stopCmd ( ) const

The start is stopped.

◆ stopProgram()

void rl::hal::MitsubishiH7::stopProgram ( ) const

◆ stpsigCmd()

void rl::hal::MitsubishiH7::stpsigCmd ( StopSignalState & state ) const

The state of the stop signal is read.

Parameters

state stop signal state

Member Data Documentation

◆ client

::std::string rl::hal::MitsubishiH7::client

private

Client ip address or hostname.

◆ filter

::std::size_t rl::hal::MitsubishiH7::filter

private

Internal filter value.

◆ haltIoData

uint16_t rl::hal::MitsubishiH7::haltIoData

private

◆ in

MxtCommand rl::hal::MitsubishiH7::in

private

◆ mode

Mode rl::hal::MitsubishiH7::mode

private

◆ out

MxtCommand rl::hal::MitsubishiH7::out

private

◆ releaseIoData

uint16_t rl::hal::MitsubishiH7::releaseIoData

private

◆ server

::std::string rl::hal::MitsubishiH7::server

private

Server ip address or hostname.

◆ shutIoData

uint16_t rl::hal::MitsubishiH7::shutIoData

private

◆ tcp

TcpSocket* rl::hal::MitsubishiH7::tcp

private

◆ udp

UdpSocket* rl::hal::MitsubishiH7::udp

private

The documentation for this class was generated from the following files:

rl/hal/MitsubishiH7.h
rl/hal/MitsubishiH7.cpp

Classes

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Member Typedef Documentation

◆ HandState

◆ MechInfo

Member Enumeration Documentation

◆ HandSts

◆ HandType

◆ Mode

◆ TaskCond

Constructor & Destructor Documentation

◆ MitsubishiH7()

◆ ~MitsubishiH7()

Member Function Documentation

◆ calibCmd()

◆ close()

◆ cntlCmd()

◆ datinstCmd() [1/2]

◆ datinstCmd() [2/2]

◆ dstateCmd()

◆ eclrCmd()

◆ emdatCmd()

◆ errormesCmd()

◆ execCmd()

◆ getCartesianPosition()

◆ getCurrentFeedback()

◆ getFilter()

◆ getIoData()

◆ getJointPosition()

◆ getMode()

◆ getMotorPulse()

◆ halt()

◆ hndCmd()

◆ hndstsCmd()

◆ inEqualsCmd()

◆ loadCmd()

◆ loadProgram()

◆ newCmd()

◆ open()

◆ outEqualsCmd()

◆ release()

◆ rstalrmCmd()

◆ rstpwrCmd()

◆ runCmd()

◆ saveCmd()

◆ setCartesianPosition()

◆ setFilter()

◆ setInput()

◆ setJointPosition()

◆ setMode()

◆ setMotorPulse()

◆ setOutput()

◆ shut()

◆ slotinitCmd()

◆ srvCmd()

◆ start()

◆ startProgram()

◆ stateCmd()

◆ step()

◆ stop()

◆ stopCmd()

◆ stopProgram()

◆ stpsigCmd()

Member Data Documentation

◆ client

◆ filter

◆ haltIoData

◆ in

◆ mode

◆ out

◆ releaseIoData

◆ server

◆ shutIoData

◆ tcp

◆ udp