CiA402::StoreHome37 Class Reference

Calibration utility: home all CiA-402 drives on the bus and persist the result to flash. More...

#include <StoreHomePosition/StoreHomePosition.h>

Classes
class	Impl

Public Member Functions
	StoreHome37 ()
	Default constructor.
	~StoreHome37 ()
	Destructor.
bool	run (yarp::os::ResourceFinder &rf)
	Run the full homing and persistence procedure on all slaves, then write encoder data.

Detailed Description

Calibration utility: home all CiA-402 drives on the bus and persist the result to flash.

This application performs a complete homing sequence on every EtherCAT slave found on the specified network interface using CiA-402 homing methods 37 (current position as home, no index) or 35 (current position as home, with index). The procedure is executed entirely via SDO communication, so the ring never needs to reach OPERATIONAL state and no cyclic motion is commanded.

After all slaves have been homed and the home position has been saved to their non-volatile memory, the application reads back the raw and adjusted encoder positions of both encoder channels together with their resolution parameters and writes the data to a TOML file. This file can subsequently be used by higher-level software to reconstruct the conversion from raw encoder counts to degrees without querying the drives again.

Per-slave homing sequence:

1. Set operation mode to Homing (0x6060 = 6).
2. Write the selected homing method to 0x6098 (35 or 37).
3. Optionally write a home offset to 0x607C.
4. Start homing by toggling bit 4 of the Controlword (0x6040) low→high.
5. Poll Statusword (0x6041) bit 12 ("Homing attained") until set; abort on bit 13 ("Homing error") or user-specified timeout.
6. Write vendor-specific restore-on-startup flag to 0x2005:02.
7. Persist all parameters to non-volatile memory via 0x1010:01 = 0x65766173 ("evas").

Post-calibration encoder snapshot (written to TOML):

• Encoder 1 (0x2111): raw position (:01, UDINT), adjusted position (:02, DINT).
• Encoder 2 (0x2113): raw position (:01, UDINT), adjusted position (:02, DINT).
• Encoder resolutions (counts/rev): 0x2110:03 for encoder 1, 0x2112:03 for encoder 2.
• Computed angle in degrees for both raw and adjusted positions of each encoder.
• Conversion factor (degrees/count) for each encoder.

Note

Only SDO communication is used; the ring stays in SAFE-OP/PRE-OP throughout.

Setting restore-on-boot to true causes the drive to boot already referenced, skipping the homing procedure on the next startup.

SOEM uses 1-based slave indices; slave numbering in the output TOML follows the same convention (slave_1, slave_2, …).

Definition at line 54 of file StoreHomePosition.h.

Constructor & Destructor Documentation

StoreHome37()

StoreHome37::StoreHome37

(

)

Default constructor.

Allocates the internal implementation object. No EtherCAT communication is started.

Definition at line 312 of file StoreHomePosition.cpp.

~StoreHome37()

StoreHome37::~StoreHome37 ( )

default

Destructor.

Releases all resources owned by the implementation. If the EtherCAT master was initialised, it is cleanly shut down.

Member Function Documentation

run()

bool StoreHome37::run

(

yarp::os::ResourceFinder &

rf

)

Run the full homing and persistence procedure on all slaves, then write encoder data.

Reads configuration from the provided ResourceFinder, discovers all EtherCAT slaves on the specified network interface, executes the per-slave homing sequence described in the class documentation, and finally writes a TOML snapshot of the encoder state to disk.

Parameters

rf	ResourceFinder populated with the parameters listed below.

Returns

true if every slave was homed, persisted, and the TOML file was written successfully; false on any error (initialisation failure, slave not found, homing error, homing timeout, SDO write failure, file I/O error).

Note

Expected keys in the ResourceFinder:

Key	Type	Description	Default
ifname	string	Network interface name (e.g. "eth0")	"eth0"
method	int	CiA-402 homing method: 35 or 37	37
home-offset	int32	Additional home offset written to 0x607C	0
timeout-ms	int	Maximum time (ms) to wait for homing attained	2000
restore-on-boot	bool / int	Set drive restore-on-startup flag (0x2005:02)	true
toml-output	string	Path of the TOML file written after calibration	"joint_calibration_YYYY_MM_DD_HH_MM_SS.toml"

Definition at line 319 of file StoreHomePosition.cpp.

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

• utils/StoreHomePosition/include/StoreHomePosition/StoreHomePosition.h
• utils/StoreHomePosition/src/StoreHomePosition.cpp