Mitsubishi Electric MELFA Ethernet interface (software version H7 or later). More...

#include <MitsubishiH7.h>

Inheritance diagram for rl::hal::MitsubishiH7:

[legend]

Classes
struct	Command

struct	Joint

struct	Pose

struct	Pulse

struct	World

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

Public Member Functions
	MitsubishiH7 (const ::std::size_t &dof, const ::std::string &addressServer, const ::std::string &addressClient, const unsigned short int &portTcp=10001, const unsigned short int &portUdp=10000, const Mode &mode=MODE_JOINT, const ::std::uint16_t &haltIoData=0x00AA, const ::std::uint16_t &releaseIoData=0x00A6, const ::std::uint16_t &shutIoData=0x000A9)

virtual	~MitsubishiH7 ()

void	close ()

::rl::math::Transform	getCartesianPosition () const

::Eigen::Matrix< ::std::int32_t, ::Eigen::Dynamic, 1 >	getCurrentFeedback () const

::std::size_t	getFilter () const

::std::uint16_t	getIoData () const

::rl::math::Vector	getJointPosition () const

Mode	getMode () const

::Eigen::Matrix< ::std::int32_t, ::Eigen::Dynamic, 1 >	getMotorPulse () const

void	halt ()

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

void	open ()

void	release ()

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

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

void	setInput (const ::std::uint16_t &bitTop)

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

void	setMode (const Mode &mode)

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

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

void	shut ()

void	start ()

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

void	step ()

void	stop ()

void	stopProgram ()

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

virtual	~CartesianPositionActuator ()

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

virtual	~AxisController ()

::std::size_t	getDof () 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)

virtual	~CartesianPositionSensor ()

Public Member Functions inherited from rl::hal::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)

virtual	~CyclicDevice ()

virtual ::std::chrono::nanoseconds	getUpdateRate () const

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)

virtual	~JointPositionActuator ()

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

virtual	~JointPositionSensor ()

Static Protected Attributes
static const ::std::uint16_t	MXT_COMMAND_NULL = 0
	Real-time external command invalid. More...

static const ::std::uint16_t	MXT_COMMAND_MOVE = 1
	Real-time external command valid. More...

static const ::std::uint16_t	MXT_COMMAND_END = 255
	Real-time external command end. More...

static const ::std::uint16_t	MXT_IO_NULL = 0
	No data. More...

static const ::std::uint16_t	MXT_IO_OUT = 1
	Output signal. More...

static const ::std::uint16_t	MXT_IO_IN = 2
	Input signal. More...

static const ::std::uint16_t	MXT_TYPE_NULL = 0
	No data. More...

static const ::std::uint16_t	MXT_TYPE_POSE = 1
	XYZ data. More...

static const ::std::uint16_t	MXT_TYPE_JOINT = 2
	Joint data. More...

static const ::std::uint16_t	MXT_TYPE_PULSE = 3
	Motor pulse data. More...

static const ::std::uint16_t	MXT_TYPE_POSE_FILTER = 4
	XYZ data (position after filter process). More...

static const ::std::uint16_t	MXT_TYPE_JOINT_FILTER = 5
	Joint data (position after filter process). More...

static const ::std::uint16_t	MXT_TYPE_PULSE_FILTER = 6
	Motor pulse data (position after filter process). More...

static const ::std::uint16_t	MXT_TYPE_POSE_FEEDBACK = 7
	XYZ data (encoder feedback value). More...

static const ::std::uint16_t	MXT_TYPE_JOINT_FEEDBACK = 8
	Joint data (encoder feedback value). More...

static const ::std::uint16_t	MXT_TYPE_PULSE_FEEDBACK = 9
	Motor pulse data (encoder feedback value). More...

static const ::std::uint16_t	MXT_TYPE_CURRENT_COMMAND = 10
	Current command [%]. More...

static const ::std::uint16_t	MXT_TYPE_CURRENT_FEEDBACK = 11
	Current feedback [%]. More...

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

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

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

::std::uint16_t	haltIoData

Command	in

Mode	mode

Command	out

MitsubishiR3	r3

::std::uint16_t	releaseIoData

::std::uint16_t	shutIoData

Socket	socket

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

void	setRunning (const bool &running)

Detailed Description

Mitsubishi Electric MELFA Ethernet interface (software version H7 or later).

Member Enumeration Documentation

◆ Mode

enum rl::hal::MitsubishiH7::Mode

Enumerator
MODE_JOINT
MODE_POSE
MODE_PULSE

Constructor & Destructor Documentation

◆ MitsubishiH7()

rl::hal::MitsubishiH7::MitsubishiH7	(	const ::std::size_t &	dof,
		const ::std::string &	addressServer,
		const ::std::string &	addressClient,
		const unsigned short int &	portTcp = `10001`,
		const unsigned short int &	portUdp = `10000`,
		const Mode &	mode = `MODE_JOINT`,
		const ::std::uint16_t &	haltIoData = `0x00AA`,
		const ::std::uint16_t &	releaseIoData = `0x00A6`,
		const ::std::uint16_t &	shutIoData = `0x000A9`
	)

◆ ~MitsubishiH7()

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

virtual

Member Function Documentation

◆ close()

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

virtual

Precondition: stop()

Implements rl::hal::Device.

◆ getCartesianPosition()

rl::math::Transform rl::hal::MitsubishiH7::getCartesianPosition ( ) const

virtual

Implements rl::hal::CartesianPositionSensor.

◆ getCurrentFeedback()

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

◆ getFilter()

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

◆ getIoData()

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

◆ getJointPosition()

rl::math::Vector rl::hal::MitsubishiH7::getJointPosition ( ) const

virtual

Implements rl::hal::JointPositionSensor.

◆ getMode()

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

◆ getMotorPulse()

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

◆ halt()

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

virtual

Implements rl::hal::Gripper.

◆ loadProgram()

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

◆ open()

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

virtual

Implements rl::hal::Device.

◆ release()

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

virtual

Implements rl::hal::Gripper.

◆ 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 ::std::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< ::std::int32_t, ::Eigen::Dynamic, 1 > & p )

◆ setOutput()

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

◆ shut()

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

virtual

Implements rl::hal::Gripper.

◆ start()

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

virtual

Precondition: open()

Implements rl::hal::Device.

◆ startProgram()

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

◆ step()

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

virtual

Precondition: start()

Implements rl::hal::CyclicDevice.

◆ stop()

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

virtual

Precondition: open()

Implements rl::hal::Device.

◆ stopProgram()

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

Member Data Documentation

◆ addressClient

::std::string rl::hal::MitsubishiH7::addressClient

private

Client ip address or hostname.

◆ addressServer

::std::string rl::hal::MitsubishiH7::addressServer

private

Server ip address or hostname.

◆ filter

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

private

Internal filter value.

◆ haltIoData

::std::uint16_t rl::hal::MitsubishiH7::haltIoData

private

◆ in

Command rl::hal::MitsubishiH7::in

private

◆ mode

Mode rl::hal::MitsubishiH7::mode

private

◆ MXT_COMMAND_END

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_COMMAND_END = 255

staticprotected

Real-time external command end.

◆ MXT_COMMAND_MOVE

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_COMMAND_MOVE = 1

staticprotected

Real-time external command valid.

◆ MXT_COMMAND_NULL

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_COMMAND_NULL = 0

staticprotected

Real-time external command invalid.

◆ MXT_IO_IN

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_IO_IN = 2

staticprotected

Input signal.

◆ MXT_IO_NULL

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_IO_NULL = 0

staticprotected

No data.

◆ MXT_IO_OUT

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_IO_OUT = 1

staticprotected

Output signal.

◆ MXT_TYPE_CURRENT_COMMAND

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_CURRENT_COMMAND = 10

staticprotected

Current command [%].

◆ MXT_TYPE_CURRENT_FEEDBACK

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_CURRENT_FEEDBACK = 11

staticprotected

Current feedback [%].

◆ MXT_TYPE_JOINT

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_JOINT = 2

staticprotected

Joint data.

◆ MXT_TYPE_JOINT_FEEDBACK

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_JOINT_FEEDBACK = 8

staticprotected

Joint data (encoder feedback value).

◆ MXT_TYPE_JOINT_FILTER

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_JOINT_FILTER = 5

staticprotected

Joint data (position after filter process).

◆ MXT_TYPE_NULL

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_NULL = 0

staticprotected

No data.

◆ MXT_TYPE_POSE

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_POSE = 1

staticprotected

XYZ data.

◆ MXT_TYPE_POSE_FEEDBACK

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_POSE_FEEDBACK = 7

staticprotected

XYZ data (encoder feedback value).

◆ MXT_TYPE_POSE_FILTER

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_POSE_FILTER = 4

staticprotected

XYZ data (position after filter process).

◆ MXT_TYPE_PULSE

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_PULSE = 3

staticprotected

Motor pulse data.

◆ MXT_TYPE_PULSE_FEEDBACK

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_PULSE_FEEDBACK = 9

staticprotected

Motor pulse data (encoder feedback value).

◆ MXT_TYPE_PULSE_FILTER

const ::std::uint16_t rl::hal::MitsubishiH7::MXT_TYPE_PULSE_FILTER = 6

staticprotected

Motor pulse data (position after filter process).

◆ out

Command rl::hal::MitsubishiH7::out

private

◆ r3

MitsubishiR3 rl::hal::MitsubishiH7::r3

private

◆ releaseIoData

::std::uint16_t rl::hal::MitsubishiH7::releaseIoData

private

◆ shutIoData

::std::uint16_t rl::hal::MitsubishiH7::shutIoData

private

◆ socket

Socket rl::hal::MitsubishiH7::socket

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

Static Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ MitsubishiH7()

◆ ~MitsubishiH7()

Member Function Documentation

◆ close()

◆ getCartesianPosition()

◆ getCurrentFeedback()

◆ getFilter()

◆ getIoData()

◆ getJointPosition()

◆ getMode()

◆ getMotorPulse()

◆ halt()

◆ loadProgram()

◆ open()

◆ release()

◆ setCartesianPosition()

◆ setFilter()

◆ setInput()

◆ setJointPosition()

◆ setMode()

◆ setMotorPulse()

◆ setOutput()

◆ shut()

◆ start()

◆ startProgram()

◆ step()

◆ stop()

◆ stopProgram()

Member Data Documentation

◆ addressClient

◆ addressServer

◆ filter

◆ haltIoData

◆ in

◆ mode

◆ MXT_COMMAND_END

◆ MXT_COMMAND_MOVE

◆ MXT_COMMAND_NULL

◆ MXT_IO_IN

◆ MXT_IO_NULL

◆ MXT_IO_OUT

◆ MXT_TYPE_CURRENT_COMMAND

◆ MXT_TYPE_CURRENT_FEEDBACK

◆ MXT_TYPE_JOINT

◆ MXT_TYPE_JOINT_FEEDBACK

◆ MXT_TYPE_JOINT_FILTER

◆ MXT_TYPE_NULL

◆ MXT_TYPE_POSE

◆ MXT_TYPE_POSE_FEEDBACK

◆ MXT_TYPE_POSE_FILTER

◆ MXT_TYPE_PULSE

◆ MXT_TYPE_PULSE_FEEDBACK

◆ MXT_TYPE_PULSE_FILTER

◆ out

◆ r3

◆ releaseIoData

◆ shutIoData

◆ socket