Mitsubishi Electric R3 protocol. More...

#include <MitsubishiR3.h>

Inheritance diagram for rl::hal::MitsubishiR3:

Classes
struct	CalibState

struct	EditSts

class	Exception

struct	Hand

struct	RunState

struct	RunSts

struct	StopSignalState

struct	StopState

struct	StopSts

Public Types
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...

Public Member Functions
	MitsubishiR3 (const ::std::string &address, const unsigned short int &port=10001)

virtual	~MitsubishiR3 ()

void	close ()

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

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

void	doDatinst (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)
	The origin is set by the data input. More...

void	doDatinst (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)
	The origin is set by the data input. More...

StopState	doDstate ()
	The stop state is read. More...

void	doEclr ()
	Clear program contents. More...

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

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

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

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

::std::array< Hand, 8 >	doHndsts ()
	The setting and the output of the hand are read. More...

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

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

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

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

void	doRstalrm ()
	The error is reset. More...

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

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

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

void	doSlotinit ()
	The program resets all slots. More...

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

RunState	doState ()
	The run state is read. More...

void	doStop ()
	The start is stopped. More...

StopSignalState	doStpsig ()
	The state of the stop signal is read. More...

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

void	open ()

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

void	stopProgram ()

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

virtual	~Com ()

bool	isConnected () const

Private Attributes
Socket	socket

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

Detailed Description

Mitsubishi Electric R3 protocol.

Member Typedef Documentation

◆ MechInfo

typedef bool rl::hal::MitsubishiR3::MechInfo[3]

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

Member Enumeration Documentation

◆ HandSts

enum rl::hal::MitsubishiR3::HandSts

Enumerator
HANDSTS_NOTUSED
HANDSTS_OPEN	Hand open.
HANDSTS_CLOSED	Hand closed.

◆ HandType

enum rl::hal::MitsubishiR3::HandType

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

◆ TaskCond

enum rl::hal::MitsubishiR3::TaskCond

Enumerator
TASKCOND_START	START.
TASKCOND_ALWAYS	ALWAYS.
TASKCOND_ERROR	ERROR.

Constructor & Destructor Documentation

◆ MitsubishiR3()

rl::hal::MitsubishiR3::MitsubishiR3	(	const ::std::string &	address,
		const unsigned short int &	port = `10001`
	)

◆ ~MitsubishiR3()

rl::hal::MitsubishiR3::~MitsubishiR3 ( )

virtual

Member Function Documentation

◆ close()

void rl::hal::MitsubishiR3::close ( )

virtual

Implements rl::hal::Com.

◆ doCalib()

void rl::hal::MitsubishiR3::doCalib ( CalibState & state )

The install status is read.

Parameters

[out] state Install state

◆ doCntl()

void rl::hal::MitsubishiR3::doCntl ( const bool & doOn )

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

[in] doOn OFF / ON

◆ doDatinst() [1/2]

void rl::hal::MitsubishiR3::doDatinst	(	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
	)

The origin is set by the data input.

Parameters

[in]	j1	Joint 1 data
[in]	j2	Joint 2 data
[in]	j3	Joint 3 data
[in]	j4	Joint 4 data
[in]	j5	Joint 5 data
[in]	j6	Joint 6 data
[in]	checksum	Checksum

◆ doDatinst() [2/2]

void rl::hal::MitsubishiR3::doDatinst	(	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
	)

The origin is set by the data input.

Parameters

[in]	j1	Joint 1 data
[in]	j2	Joint 2 data
[in]	j3	Joint 3 data
[in]	j4	Joint 4 data
[in]	j5	Joint 5 data
[in]	j6	Joint 6 data
[in]	j7	Joint 7 data
[in]	j8	Joint 8 data
[in]	j8	Joint 8 data
[in]	checksum	Checksum

◆ doDstate()

MitsubishiR3::StopState rl::hal::MitsubishiR3::doDstate ( )

The stop state is read.

Parameters

[out] state Stop state

◆ doEclr()

void rl::hal::MitsubishiR3::doEclr ( )

Clear program contents.

It is effective in the edit slot.

◆ doEmdat()

void rl::hal::MitsubishiR3::doEmdat ( const ::std::string & program )

More line and position are registered in the program.

It is effective in the edit slot.

Parameters

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

◆ doErrormes()

std::string rl::hal::MitsubishiR3::doErrormes ( const int & errorNo )

The content of the error is read.

Parameters

[in] errorNo Error number

Returns: Content of the error

◆ doExec()

void rl::hal::MitsubishiR3::doExec ( const ::std::string & instruction )

The instruction is executed directly.

Parameters

[in] instruction Instruction of MELFA-BASIC IV or MOVEMASTER commands

◆ doHnd()

void rl::hal::MitsubishiR3::doHnd	(	const bool &	doOpen,
		const int &	handNo
	)

The hand is openend and closed.

Parameters

[in]	doOpen	CLOSE / OPEN
[in]	handNo	Hand number (1 - 8) is specified

◆ doHndsts()

std::array< MitsubishiR3::Hand, 8 > rl::hal::MitsubishiR3::doHndsts ( )

The setting and the output of the hand are read.

Parameters

[out] state Hand state

◆ doInEquals()

void rl::hal::MitsubishiR3::doInEquals	(	const ::std::size_t &	inNo,
		const ::std::string &	inVal
	)

The input signal is pseudo-input.

Parameters

[in]	inNo	Input signal number
[in]	inVal	Pseudo-input signal value by 4 hex number fixation

◆ doLoad()

void rl::hal::MitsubishiR3::doLoad ( const ::std::string & programName )

Open the program for edit.

Parameters

[in] programName Edit program name

◆ doNew()

void rl::hal::MitsubishiR3::doNew ( )

The program is closed annulling the content of the edit.

◆ doOutEquals()

void rl::hal::MitsubishiR3::doOutEquals	(	const ::std::size_t &	outNo,
		const ::std::string &	outVal
	)

The output signal is compelling output.

Parameters

[in]	outNo	Output signal number
[in]	outVal	Output signal value by 4 hex number fixation

◆ doRstalrm()

void rl::hal::MitsubishiR3::doRstalrm ( )

The error is reset.

◆ doRstpwr()

void rl::hal::MitsubishiR3::doRstpwr ( )

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

◆ doRun()

void rl::hal::MitsubishiR3::doRun	(	const ::std::string &	programName,
		const bool &	doModeCycle = `false`
	)

The program is started.

Parameters

[in]	programName	Program name
[in]	doModeCycle	Repeat start / cycle start

◆ doSave()

void rl::hal::MitsubishiR3::doSave ( )

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

◆ doSlotinit()

void rl::hal::MitsubishiR3::doSlotinit ( )

The program resets all slots.

◆ doSrv()

void rl::hal::MitsubishiR3::doSrv ( const bool & doOn )

The servo power supply is turned on and off.

Parameters

[in] doOn OFF / ON

◆ doState()

MitsubishiR3::RunState rl::hal::MitsubishiR3::doState ( )

The run state is read.

Parameters

[out] state Run state

◆ doStop()

void rl::hal::MitsubishiR3::doStop ( )

The start is stopped.

◆ doStpsig()

MitsubishiR3::StopSignalState rl::hal::MitsubishiR3::doStpsig ( )

The state of the stop signal is read.

Parameters

[out] state Stop signal state

◆ loadProgram()

void rl::hal::MitsubishiR3::loadProgram	(	const ::std::string &	name,
		const ::std::string &	program
	)

◆ open()

void rl::hal::MitsubishiR3::open ( )

virtual

Implements rl::hal::Com.

◆ startProgram()

void rl::hal::MitsubishiR3::startProgram ( const ::std::string & name )

◆ stopProgram()

void rl::hal::MitsubishiR3::stopProgram ( )

Member Data Documentation

◆ socket

Socket rl::hal::MitsubishiR3::socket

private

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

rl/hal/MitsubishiR3.h
rl/hal/MitsubishiR3.cpp

Classes

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MechInfo

Member Enumeration Documentation

◆ HandSts

◆ HandType

◆ TaskCond

Constructor & Destructor Documentation

◆ MitsubishiR3()

◆ ~MitsubishiR3()

Member Function Documentation

◆ close()

◆ doCalib()

◆ doCntl()

◆ doDatinst() [1/2]

◆ doDatinst() [2/2]

◆ doDstate()

◆ doEclr()

◆ doEmdat()

◆ doErrormes()

◆ doExec()

◆ doHnd()

◆ doHndsts()

◆ doInEquals()

◆ doLoad()

◆ doNew()

◆ doOutEquals()

◆ doRstalrm()

◆ doRstpwr()

◆ doRun()

◆ doSave()

◆ doSlotinit()

◆ doSrv()

◆ doState()

◆ doStop()

◆ doStpsig()

◆ loadProgram()

◆ open()

◆ startProgram()

◆ stopProgram()

Member Data Documentation

◆ socket