Minimal CiA‑402 motion‑control driver based on SOEM. More...

#include <CiA402MotionControl.h>

Inheritance diagram for yarp::dev::CiA402MotionControl:

Collaboration diagram for yarp::dev::CiA402MotionControl:

Classes
struct	Impl

Public Member Functions
	CiA402MotionControl (double period, yarp::os::ShouldUseSystemClock useSystemClock=yarp::os::ShouldUseSystemClock::Yes)
	Constructor.

	CiA402MotionControl ()
	Default constructor.

	~CiA402MotionControl () override
	Destructor.

bool	open (yarp::os::Searchable &config) override
	Opens the device driver.

bool	close () override
	Closes the device driver.

void	run () override
	Runs the periodic thread.

bool	getNumberOfMotorEncoders (int *num) override
	Gets the number of motor encoders.

bool	resetMotorEncoder (int m) override
	Resets the specified motor encoder to zero.

bool	resetMotorEncoders () override
	Resets all motor encoders to zero.

bool	setMotorEncoderCountsPerRevolution (int m, const double cpr) override
	Sets the counts per revolution for a specific motor encoder.

bool	getMotorEncoderCountsPerRevolution (int m, double *cpr) override
	Gets the counts per revolution for a specific motor encoder.

bool	setMotorEncoder (int m, const double val) override
	Sets the value of a specific motor encoder.

bool	setMotorEncoders (const double *vals) override
	Sets the values of all motor encoders.

bool	getMotorEncoder (int m, double *v) override
	Gets the value of a specific motor encoder.

bool	getMotorEncoders (double *encs) override
	Gets the values of all motor encoders.

bool	getMotorEncodersTimed (double encs, double time) override
	Gets the values and timestamps of all motor encoders.

bool	getMotorEncoderTimed (int m, double encs, double time) override
	Gets the value and timestamp of a specific motor encoder.

bool	getMotorEncoderSpeed (int m, double *sp) override
	Gets the speed of a specific motor encoder.

bool	getMotorEncoderSpeeds (double *spds) override
	Gets the speeds of all motor encoders.

bool	getMotorEncoderAcceleration (int m, double *acc) override
	Gets the acceleration of a specific motor encoder.

bool	getMotorEncoderAccelerations (double *accs) override
	Gets the accelerations of all motor encoders.

bool	getEncodersTimed (double encs, double time) override
	Gets the values and timestamps of all encoders.

bool	getEncoderTimed (int j, double encs, double time) override
	Gets the value and timestamp of a specific encoder.

bool	getAxes (int *ax) override
	Gets the number of axes (encoders).

bool	resetEncoder (int j) override
	Resets the specified encoder to zero.

bool	resetEncoders () override
	Resets all encoders to zero.

bool	setEncoder (int j, double val) override
	Sets the value of a specific encoder.

bool	setEncoders (const double *vals) override
	Sets the values of all encoders.

bool	getEncoder (int j, double *v) override
	Gets the value of a specific encoder.

bool	getEncoders (double *encs) override
	Gets the values of all encoders.

bool	getEncoderSpeed (int j, double *sp) override
	Gets the speed of a specific encoder.

bool	getEncoderSpeeds (double *spds) override
	Gets the speeds of all encoders.

bool	getEncoderAcceleration (int j, double *spds) override
	Gets the acceleration of a specific encoder.

bool	getEncoderAccelerations (double *accs) override
	Gets the accelerations of all encoders.

bool	getAxisName (int axis, std::string &name) override
	Gets the name of a specific axis.

bool	getJointType (int axis, yarp::dev::JointTypeEnum &type) override
	Gets the type of a specific axis.

bool	getControlMode (int j, int *mode) override
	Gets the control mode of a specific joint.

bool	getControlModes (int *modes) override
	Gets the control modes of all joints.

bool	getControlModes (const int n, const int joints, int modes) override
	Gets the control modes of a subset of joints.

bool	setControlMode (const int j, const int mode) override
	Sets the control mode of a specific joint.

bool	setControlModes (const int n, const int joints, int modes) override
	Sets the control modes of a subset of joints.

bool	setControlModes (int *modes) override
	Sets the control modes of all joints.

bool	getRefTorques (double *t) override
	Gets the reference torques for all joints.

bool	getRefTorque (int j, double *t) override
	Gets the reference torque for a specific joint.

bool	setRefTorques (const double *t) override
	Sets the reference torques for all joints.

bool	setRefTorques (const int n_joint, const int joints, const double t) override
	Sets the reference torques for a subset of joints.

bool	setRefTorque (int j, double t) override
	Sets the reference torque for a specific joint.

bool	getTorque (int j, double *t) override
	Gets the measured torque for a specific joint.

bool	getTorques (double *t) override
	Gets the measured torques for all joints.

bool	getTorqueRange (int j, double min, double max) override
	Gets the torque range for a specific joint.

bool	getTorqueRanges (double min, double max) override
	Gets the torque ranges for all joints.

bool	velocityMove (int j, double sp) override
	Commands a velocity move for a specific joint.

bool	velocityMove (const double *sp) override
	Commands velocity moves for all joints.

bool	getRefVelocity (const int joint, double *vel) override
	Gets the reference velocity for a specific joint.

bool	getRefVelocities (double *vels) override
	Gets the reference velocities for all joints.

bool	getRefVelocities (const int n_joint, const int joints, double vels) override
	Gets the reference velocity for a subset of joints.

bool	setRefAcceleration (int j, double acc) override
	(Unused in CSV mode) Sets the reference acceleration for a specific joint.

bool	setRefAccelerations (const double *accs) override
	(Unused in CSV mode) Sets the reference accelerations for all joints.

bool	getRefAcceleration (int j, double *acc) override
	(Unused in CSV mode) Gets the reference acceleration for a specific joint.

bool	getRefAccelerations (double *accs) override
	(Unused in CSV mode) Gets the reference accelerations for all joints.

bool	stop (int j) override
	Stops motion for a specific joint.

bool	stop () override
	Stops motion for all joints.

bool	velocityMove (const int n_joint, const int joints, const double spds) override
	Commands velocity moves for a subset of joints.

bool	setRefAccelerations (const int n_joint, const int joints, const double accs) override
	Sets the reference accelerations for a subset of joints.

bool	getRefAccelerations (const int n_joint, const int joints, double accs) override
	Gets the reference accelerations for a subset of joints.

bool	stop (const int n_joint, const int *joints) override
	Stops motion for a subset of joints.

bool	getLastJointFault (int j, int &fault, std::string &message) override
	Gets the last joint fault for a specific joint.

bool	positionMove (int j, double ref) override
	Commands an absolute position move for a specific joint using Profile Position Mode (PP).

bool	positionMove (const double *refs) override
	Commands absolute position moves for all joints simultaneously.

bool	positionMove (const int n_joint, const int joints, const double refs) override
	Commands absolute position moves for a subset of joints.

bool	relativeMove (int j, double delta) override
	Commands a relative position move for a specific joint.

bool	relativeMove (const double *deltas) override
	Commands relative position moves for all joints simultaneously.

bool	relativeMove (const int n_joint, const int joints, const double deltas) override
	Commands relative position moves for a subset of joints.

bool	checkMotionDone (int j, bool *flag) override
	Checks if a specific joint has completed its motion.

bool	checkMotionDone (bool *flag) override
	Checks if all joints have completed their motions.

bool	checkMotionDone (const int n_joint, const int joints, bool flag) override
	Checks if specific joints have completed their motions.

bool	setRefSpeed (int j, double sp) override
	Sets the reference speed (profile velocity) for a specific joint.

bool	setRefSpeeds (const double *spds) override
	Sets the reference speeds (profile velocities) for all joints.

bool	setRefSpeeds (const int n_joint, const int joints, const double spds) override
	Sets the reference speeds (profile velocities) for specific joints.

bool	getRefSpeed (int j, double *ref) override
	Gets the current reference speed (profile velocity) for a specific joint.

bool	getRefSpeeds (double *spds) override
	Gets the current reference speeds (profile velocities) for all joints.

bool	getRefSpeeds (const int n_joint, const int joints, double spds) override
	Gets the current reference speeds (profile velocities) for specific joints.

bool	getTargetPosition (int j, double *ref) override
	Gets the target position for a specific joint.

bool	getTargetPositions (double *refs) override
	Gets the target positions for all joints.

bool	getTargetPositions (const int n_joint, const int joints, double refs) override
	Gets the target positions for specific joints.

bool	setPosition (int j, double ref) override
	Streams a single joint reference in Cyclic Synchronous Position mode.

bool	setPositions (const int n_joint, const int joints, const double refs) override
	Streams references for a subset of joints.

bool	setPositions (const double *refs) override
	Streams references for every configured joint.

bool	getRefPosition (const int joint, double *ref) override
	Returns the most recent position-direct command for a joint.

bool	getRefPositions (double *refs) override
	Returns the position-direct references for all joints.

bool	getRefPositions (const int n_joint, const int joints, double refs) override
	Returns the position-direct references for a subset of joints.

bool	getCurrent (int m, double *curr) override
	Gets the measured current of a specific motor.

bool	getCurrents (double *currs) override
	Gets the measured currents of all motors.

bool	getCurrentRange (int m, double min, double max) override
	Gets the allowable current range for a specific motor.

bool	getCurrentRanges (double min, double max) override
	Gets the allowable current ranges for all motors.

bool	setRefCurrents (const double *currs) override
	Sets the reference currents for all motors.

bool	setRefCurrent (int m, double curr) override
	Sets the reference current for a specific motor.

bool	setRefCurrents (const int n_motor, const int motors, const double currs) override
	Sets the reference currents for a subset of motors.

bool	getRefCurrents (double *currs) override
	Gets the last commanded reference currents for all motors.

bool	getRefCurrent (int m, double *curr) override
	Gets the last commanded reference current for a specific motor.

bool	getNumberOfMotors (int *num) override
	Gets the number of motors controlled by the device.

bool	getTemperature (int m, double *val) override
	Gets the temperature of a specific motor.

bool	getTemperatures (double *vals) override
	Gets the temperatures of all motors.

bool	getTemperatureLimit (int m, double *temp) override
	Gets the temperature limit of a specific motor.

bool	setTemperatureLimit (int m, const double temp) override
	Sets the temperature limit of a specific motor.

bool	getGearboxRatio (int m, double *val) override
	Gets the gearbox ratio of a specific motor.

bool	setGearboxRatio (int m, const double val) override
	Sets the gearbox ratio of a specific motor.

bool	setLimits (int axis, double min, double max) override
	Sets the position limits for a specific axis.

bool	getLimits (int axis, double min, double max) override
	Gets the position limits for a specific axis.

bool	setVelLimits (int axis, double min, double max) override
	Sets the velocity limits for a specific axis.

bool	getVelLimits (int axis, double min, double max) override
	Gets the velocity limits for a specific axis.

bool	getInteractionMode (int axis, yarp::dev::InteractionModeEnum *mode) override
	Gets the interaction mode of a specific axis.

bool	getInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Gets the interaction modes of a subset of joints.

bool	getInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Gets the interaction modes of all joints.

bool	setInteractionMode (int axis, yarp::dev::InteractionModeEnum mode) override
	Sets the interaction mode of a specific axis.

bool	setInteractionModes (int n_joints, int joints, yarp::dev::InteractionModeEnum modes) override
	Sets the interaction modes of a subset of joints.

bool	setInteractionModes (yarp::dev::InteractionModeEnum *modes) override
	Sets the interaction modes of all joints.

Detailed Description

Minimal CiA‑402 motion‑control driver based on SOEM.

This class owns the EtherCAT master cycle via yarp::os::PeriodicThread.

Definition at line 36 of file CiA402MotionControl.h.

Constructor & Destructor Documentation

◆ CiA402MotionControl() [1/2]

yarp::dev::CiA402MotionControl::CiA402MotionControl	(	double	period,
		yarp::os::ShouldUseSystemClock	useSystemClock = yarp::os::ShouldUseSystemClock::Yes )

explicit

Constructor.

Parameters

period	The period of the thread in seconds.
useSystemClock	Whether to use the system clock for timing.

Definition at line 1753 of file CiA402MotionControl.cpp.

◆ CiA402MotionControl() [2/2]

yarp::dev::CiA402MotionControl::CiA402MotionControl ( )

Default constructor.

This constructor sets the period to 0.01 seconds and uses the system clock.

Definition at line 1759 of file CiA402MotionControl.cpp.

◆ ~CiA402MotionControl()

yarp::dev::CiA402MotionControl::~CiA402MotionControl ( )

overridedefault

Destructor.

Cleans up the resources used by the driver.

Member Function Documentation

◆ checkMotionDone() [1/3]

bool yarp::dev::CiA402MotionControl::checkMotionDone ( bool * flag )

override

Checks if all joints have completed their motions.

This function checks the motion completion status for all configured joints and returns true only when all joints have reached their targets.

Parameters

flag	Pointer to store the overall motion status (true if all motions complete).

Returns: true if the status check was successful, false on error.

Note: Returns true in flag only when ALL joints report "Target Reached".; Useful for coordinated motion sequences where all axes must complete.; Individual joint errors will cause this function to return false.

Definition at line 4432 of file CiA402MotionControl.cpp.

◆ checkMotionDone() [2/3]

bool yarp::dev::CiA402MotionControl::checkMotionDone	(	const int	n_joint,
		const int *	joints,
		bool *	flag )

override

Checks if specific joints have completed their motions.

This function checks motion completion status for a subset of joints, returning true only when all specified joints have reached their targets.

Parameters

n_joint	Number of joints to check (must be > 0).
joints	Array of joint indices to check (each must be valid joint index).
flag	Pointer to store the motion status (true if all specified motions complete).

Returns: true if the status check was successful, false on error.

Note: Returns true in flag only when ALL specified joints report "Target Reached".; Non-specified joints are ignored in the completion check.; Joint indices must be valid (0 to num_axes-1).

Definition at line 4449 of file CiA402MotionControl.cpp.

◆ checkMotionDone() [3/3]

bool yarp::dev::CiA402MotionControl::checkMotionDone	(	int	j,
		bool *	flag )

override

Checks if a specific joint has completed its motion.

This function queries the CiA-402 Status Word (0x6041) to determine if the joint has reached its target position. The check includes both position tolerance and velocity settling criteria.

Parameters

j	Index of the joint to check (0-based).
flag	Pointer to store the motion status (true if motion complete, false if still moving).

Returns: true if the status was successfully retrieved, false on error.

Note: Motion is considered complete when the drive reports "Target Reached" status.; This includes both position accuracy and velocity settling requirements.; The function checks the drive's internal motion status, not just position error.

Definition at line 4413 of file CiA402MotionControl.cpp.

◆ close()

bool yarp::dev::CiA402MotionControl::close ( )

override

Closes the device driver.

Returns: true if the driver was closed successfully, false otherwise.

Definition at line 2766 of file CiA402MotionControl.cpp.

◆ getAxes()

bool yarp::dev::CiA402MotionControl::getAxes ( int * ax )

override

Gets the number of axes (encoders).

Parameters

ax	Pointer to store the number of axes.

Returns: true if successful, false otherwise.

Definition at line 3233 of file CiA402MotionControl.cpp.

◆ getAxisName()

bool yarp::dev::CiA402MotionControl::getAxisName	(	int	j,
		std::string &	name )

override

Gets the name of a specific axis.

Parameters

axis	Index of the axis.
name	Reference to a string to store the axis name.

Returns: true if successful, false otherwise.

--------------— IAxisInfo ---------------—

Definition at line 3377 of file CiA402MotionControl.cpp.

◆ getControlMode()

bool yarp::dev::CiA402MotionControl::getControlMode	(	int	j,
		int *	mode )

override

Gets the control mode of a specific joint.

Parameters

j	Index of the joint.
mode	Pointer to store the control mode.

Returns: true if successful, false otherwise.

Definition at line 3405 of file CiA402MotionControl.cpp.

◆ getControlModes() [1/2]

bool yarp::dev::CiA402MotionControl::getControlModes	(	const int	n,
		const int *	joints,
		int *	modes )

override

Gets the control modes of a subset of joints.

Parameters

n	Number of joints.
joints	Array of joint indices.
modes	Array to store the control modes.

Returns: true if successful, false otherwise.

Definition at line 3440 of file CiA402MotionControl.cpp.

◆ getControlModes() [2/2]

bool yarp::dev::CiA402MotionControl::getControlModes ( int * modes )

override

Gets the control modes of all joints.

Parameters

modes Array to store the control modes.

Returns: true if successful, false otherwise.

Definition at line 3425 of file CiA402MotionControl.cpp.

◆ getCurrent()

bool yarp::dev::CiA402MotionControl::getCurrent	(	int	m,
		double *	curr )

override

Gets the measured current of a specific motor.

Retrieves the instantaneous motor current as reported by the drive (typically q‑axis current or equivalent depending on vendor).

Parameters

m	Index of the motor (0-based).
curr	Pointer to store the measured current (Amperes).

Returns: true if the value was successfully read, false otherwise.

Note: Units are Amperes (A). Sign follows the drive convention.; Value is measured, not the commanded reference.

Definition at line 4867 of file CiA402MotionControl.cpp.

◆ getCurrentRange()

bool yarp::dev::CiA402MotionControl::getCurrentRange	(	int	m,
		double *	min,
		double *	max )

override

Gets the allowable current range for a specific motor.

Returns the minimum and maximum current the drive will accept or report for this motor.

Parameters

m	Index of the motor (0-based).
min	Pointer to store the minimum allowable current (A).
max	Pointer to store the maximum allowable current (A).

Returns: true if the range was successfully read, false otherwise.

Note: Ranges may reflect rated/peak limits configured on the drive.

Definition at line 4896 of file CiA402MotionControl.cpp.

◆ getCurrentRanges()

bool yarp::dev::CiA402MotionControl::getCurrentRanges	(	double *	min,
		double *	max )

override

Gets the allowable current ranges for all motors.

Parameters

min	Array to store the minimum allowable currents (A).
max	Array to store the maximum allowable currents (A). Arrays must have size equal to the number of motors/axes.

Returns: true if all ranges were successfully read, false otherwise.

Definition at line 4914 of file CiA402MotionControl.cpp.

◆ getCurrents()

bool yarp::dev::CiA402MotionControl::getCurrents ( double * currs )

override

Gets the measured currents of all motors.

Parameters

currs Array to store the measured currents for all motors (A). Size must equal the number of motors/axes.

Returns: true if all values were successfully read, false otherwise.

Definition at line 4884 of file CiA402MotionControl.cpp.

◆ getEncoder()

bool yarp::dev::CiA402MotionControl::getEncoder	(	int	j,
		double *	v )

override

Gets the value of a specific encoder.

Parameters

j	Index of the encoder.
v	Pointer to store the encoder value.

Returns: true if successful, false otherwise.

Definition at line 3268 of file CiA402MotionControl.cpp.

◆ getEncoderAcceleration()

bool yarp::dev::CiA402MotionControl::getEncoderAcceleration	(	int	j,
		double *	spds )

override

Gets the acceleration of a specific encoder.

Parameters

j	Index of the encoder.
spds	Pointer to store the acceleration value.

Returns: true if successful, false otherwise.

Definition at line 3338 of file CiA402MotionControl.cpp.

◆ getEncoderAccelerations()

bool yarp::dev::CiA402MotionControl::getEncoderAccelerations ( double * accs )

override

Gets the accelerations of all encoders.

Parameters

accs	Array to store the acceleration values.

Returns: true if successful, false otherwise.

Definition at line 3357 of file CiA402MotionControl.cpp.

◆ getEncoders()

bool yarp::dev::CiA402MotionControl::getEncoders ( double * encs )

override

Gets the values of all encoders.

Parameters

encs	Array to store the encoder values.

Returns: true if successful, false otherwise.

Definition at line 3287 of file CiA402MotionControl.cpp.

◆ getEncoderSpeed()

bool yarp::dev::CiA402MotionControl::getEncoderSpeed	(	int	j,
		double *	sp )

override

Gets the speed of a specific encoder.

Parameters

j	Index of the encoder.
sp	Pointer to store the speed value.

Returns: true if successful, false otherwise.

Definition at line 3303 of file CiA402MotionControl.cpp.

◆ getEncoderSpeeds()

bool yarp::dev::CiA402MotionControl::getEncoderSpeeds ( double * spds )

override

Gets the speeds of all encoders.

Parameters

spds	Array to store the speed values.

Returns: true if successful, false otherwise.

Definition at line 3322 of file CiA402MotionControl.cpp.

◆ getEncodersTimed()

bool yarp::dev::CiA402MotionControl::getEncodersTimed	(	double *	encs,
		double *	time )

override

Gets the values and timestamps of all encoders.

Parameters

encs	Array to store the encoder values.
time	Array to store the timestamps (in seconds).

Returns: true if successful, false otherwise.

Definition at line 3196 of file CiA402MotionControl.cpp.

◆ getEncoderTimed()

bool yarp::dev::CiA402MotionControl::getEncoderTimed	(	int	j,
		double *	encs,
		double *	time )

override

Gets the value and timestamp of a specific encoder.

Parameters

j	Index of the encoder.
encs	Pointer to store the encoder value.
time	Pointer to store the timestamp (in seconds).

Returns: true if successful, false otherwise.

Definition at line 3213 of file CiA402MotionControl.cpp.

◆ getGearboxRatio()

bool yarp::dev::CiA402MotionControl::getGearboxRatio	(	int	m,
		double *	val )

override

Gets the gearbox ratio of a specific motor.

This function retrieves the gearbox ratio of the specified motor.

Parameters

m	Index of the motor (0-based).
val	Pointer to store the gearbox ratio value.

Returns: true if the parameter was successfully read, false otherwise.

Definition at line 4844 of file CiA402MotionControl.cpp.

◆ getInteractionMode()

bool yarp::dev::CiA402MotionControl::getInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum *	mode )

override

Gets the interaction mode of a specific axis.

Parameters

axis	Index of the axis (0-based).
mode	Pointer to store the interaction mode.

Returns: true if the mode was successfully retrieved, false otherwise.

Note: The interaction mode is not implemented in this driver, it always returns stiff.

Definition at line 5161 of file CiA402MotionControl.cpp.

◆ getInteractionModes() [1/2]

bool yarp::dev::CiA402MotionControl::getInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes )

override

Gets the interaction modes of a subset of joints.

Parameters

n_joints	Number of joints.
joints	Array of joint indices.
modes	Array to store the interaction modes.

Returns: true if the modes were successfully retrieved, false otherwise.

Definition at line 5173 of file CiA402MotionControl.cpp.

◆ getInteractionModes() [2/2]

bool yarp::dev::CiA402MotionControl::getInteractionModes ( yarp::dev::InteractionModeEnum * modes )

override

Gets the interaction modes of all joints.

Parameters

modes Array to store the interaction modes.

Returns: true if the modes were successfully retrieved, false otherwise.

Definition at line 5195 of file CiA402MotionControl.cpp.

◆ getJointType()

bool yarp::dev::CiA402MotionControl::getJointType	(	int	axis,
		yarp::dev::JointTypeEnum &	type )

override

Gets the type of a specific axis.

Parameters

axis	Index of the axis.
type	Reference to a JointTypeEnum to store the axis type.

Returns: true if successful, false otherwise.

Note: For the time being, this function always returns JointTypeEnum::VOCAB_JOINTTYPE_REVOLUTE.

Definition at line 3392 of file CiA402MotionControl.cpp.

◆ getLastJointFault()

bool yarp::dev::CiA402MotionControl::getLastJointFault	(	int	j,
		int &	fault,
		std::string &	message )

override

Gets the last joint fault for a specific joint.

Parameters

j	Index of the joint.
fault	Reference to an integer to store the fault code.
message	Reference to a string to store the fault message.

Returns: true if successful, false otherwise.

Definition at line 4168 of file CiA402MotionControl.cpp.

◆ getLimits()

bool yarp::dev::CiA402MotionControl::getLimits	(	int	axis,
		double *	min,
		double *	max )

override

Gets the position limits for a specific axis.

This function retrieves the minimum and maximum position limits for the specified axis.

Parameters

axis	Index of the axis (0-based).
min	Pointer to store the minimum position limit (in joint units, e.g., degrees).
max	Pointer to store the maximum position limit (in joint units, e.g., degrees).

Returns: true if the limits were successfully retrieved, false otherwise.

Definition at line 5126 of file CiA402MotionControl.cpp.

◆ getMotorEncoder()

bool yarp::dev::CiA402MotionControl::getMotorEncoder	(	int	m,
		double *	v )

override

Gets the value of a specific motor encoder.

Parameters

m	Index of the motor encoder.
v	Pointer to store the encoder value.

Returns: true if successful, false otherwise.

Definition at line 3054 of file CiA402MotionControl.cpp.

◆ getMotorEncoderAcceleration()

bool yarp::dev::CiA402MotionControl::getMotorEncoderAcceleration	(	int	m,
		double *	acc )

override

Gets the acceleration of a specific motor encoder.

Parameters

m	Index of the motor encoder.
acc	Pointer to store the acceleration value.

Returns: true if successful, false otherwise.

Definition at line 3158 of file CiA402MotionControl.cpp.

◆ getMotorEncoderAccelerations()

bool yarp::dev::CiA402MotionControl::getMotorEncoderAccelerations ( double * accs )

override

Gets the accelerations of all motor encoders.

Parameters

accs	Array to store the acceleration values.

Returns: true if successful, false otherwise.

Definition at line 3177 of file CiA402MotionControl.cpp.

◆ getMotorEncoderCountsPerRevolution()

bool yarp::dev::CiA402MotionControl::getMotorEncoderCountsPerRevolution	(	int	m,
		double *	cpr )

override

Gets the counts per revolution for a specific motor encoder.

Parameters

m	Index of the motor encoder.
cpr	Pointer to store the counts per revolution value.

Returns: true if successful, false otherwise.

Definition at line 3027 of file CiA402MotionControl.cpp.

◆ getMotorEncoders()

bool yarp::dev::CiA402MotionControl::getMotorEncoders ( double * encs )

override

Gets the values of all motor encoders.

Parameters

encs	Array to store the encoder values.

Returns: true if successful, false otherwise.

Definition at line 3073 of file CiA402MotionControl.cpp.

◆ getMotorEncoderSpeed()

bool yarp::dev::CiA402MotionControl::getMotorEncoderSpeed	(	int	m,
		double *	sp )

override

Gets the speed of a specific motor encoder.

Parameters

m	Index of the motor encoder.
sp	Pointer to store the speed value.

Returns: true if successful, false otherwise.

Definition at line 3123 of file CiA402MotionControl.cpp.

◆ getMotorEncoderSpeeds()

bool yarp::dev::CiA402MotionControl::getMotorEncoderSpeeds ( double * spds )

override

Gets the speeds of all motor encoders.

Parameters

spds	Array to store the speed values.

Returns: true if successful, false otherwise.

Definition at line 3142 of file CiA402MotionControl.cpp.

◆ getMotorEncodersTimed()

bool yarp::dev::CiA402MotionControl::getMotorEncodersTimed	(	double *	encs,
		double *	time )

override

Gets the values and timestamps of all motor encoders.

Parameters

encs	Array to store the encoder values.
time	Array to store the timestamps.

Returns: true if successful, false otherwise.

Definition at line 3088 of file CiA402MotionControl.cpp.

◆ getMotorEncoderTimed()

bool yarp::dev::CiA402MotionControl::getMotorEncoderTimed	(	int	m,
		double *	encs,
		double *	time )

override

Gets the value and timestamp of a specific motor encoder.

Parameters

m	Index of the motor encoder.
encs	Pointer to store the encoder value.
time	Pointer to store the timestamp.

Returns: true if successful, false otherwise.

Definition at line 3103 of file CiA402MotionControl.cpp.

◆ getNumberOfMotorEncoders()

bool yarp::dev::CiA402MotionControl::getNumberOfMotorEncoders ( int * num )

override

Gets the number of motor encoders.

Parameters

num	Pointer to an integer where the number of encoders will be stored.

Returns: true if successful, false otherwise.

Definition at line 2984 of file CiA402MotionControl.cpp.

◆ getNumberOfMotors()

bool yarp::dev::CiA402MotionControl::getNumberOfMotors ( int * num )

override

Gets the number of motors controlled by the device.

This function retrieves the number of motors that are currently controlled by the device.

Parameters

num	Pointer to store the number of motors.

Returns: true if the parameter was successfully read, false otherwise.

Definition at line 4786 of file CiA402MotionControl.cpp.

◆ getRefAcceleration()

bool yarp::dev::CiA402MotionControl::getRefAcceleration	(	int	j,
		double *	acc )

override

(Unused in CSV mode) Gets the reference acceleration for a specific joint.

Parameters

j	Index of the joint.
acc	Pointer to store the reference acceleration (ignored).

Returns: Always returns false. Not used in Cyclic Synchronous Velocity Mode.

Definition at line 3945 of file CiA402MotionControl.cpp.

◆ getRefAccelerations() [1/2]

bool yarp::dev::CiA402MotionControl::getRefAccelerations	(	const int	n_joint,
		const int *	joints,
		double *	accs )

override

Gets the reference accelerations for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.
accs	Array to store the reference accelerations (ignored).

Note: This function is not used in Cyclic Synchronous Velocity Mode (CSV).; If the driver is switched to Profile Position Mode (PP), this function call a SDO read and get the reference acceleration (0x6083).

Returns: True in case of success, false otherwise.

Definition at line 4127 of file CiA402MotionControl.cpp.

◆ getRefAccelerations() [2/2]

bool yarp::dev::CiA402MotionControl::getRefAccelerations ( double * accs )

override

(Unused in CSV mode) Gets the reference accelerations for all joints.

Parameters

accs	Array to store the reference accelerations (ignored).

Returns: Always returns false. Not used in Cyclic Synchronous Velocity Mode.

Definition at line 3976 of file CiA402MotionControl.cpp.

◆ getRefCurrent()

bool yarp::dev::CiA402MotionControl::getRefCurrent	(	int	m,
		double *	curr )

override

Gets the last commanded reference current for a specific motor.

Returns the reference previously set with setRefCurrent(s) for the given motor. This is the commanded value, not the measured current.

Parameters

m	Index of the motor (0-based).
curr	Pointer to store the reference current (A).

Returns: true if the value was retrieved, false otherwise.

Definition at line 5054 of file CiA402MotionControl.cpp.

◆ getRefCurrents()

bool yarp::dev::CiA402MotionControl::getRefCurrents ( double * currs )

override

Gets the last commanded reference currents for all motors.

Returns the references previously set with setRefCurrent(s). These are the commanded values, not the measured currents.

Parameters

currs Array to store the reference currents for all motors (A). Size must equal the number of motors/axes.

Returns: true if all values were retrieved, false otherwise.

Definition at line 5041 of file CiA402MotionControl.cpp.

◆ getRefPosition()

bool yarp::dev::CiA402MotionControl::getRefPosition	(	const int	joint,
		double *	ref )

override

Returns the most recent position-direct command for a joint.

Mirrors the last value pushed via setPosition* APIs, ignoring commands sent through IPositionControl or other interfaces.

Parameters

joint	Index of the joint.
ref	Pointer to store the last position-direct reference.

Returns: true if a cached value is available, false otherwise.

Definition at line 4721 of file CiA402MotionControl.cpp.

◆ getRefPositions() [1/2]

bool yarp::dev::CiA402MotionControl::getRefPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs )

override

Returns the position-direct references for a subset of joints.

Fills refs with the cached values previously streamed for the provided joint indices.

Parameters

n_joint	Number of joints to query.
joints	Array of joint indices (size = n_joint).
refs	Array to store the corresponding cached references.

Returns: true if all requested values were available, false otherwise.

Definition at line 4754 of file CiA402MotionControl.cpp.

◆ getRefPositions() [2/2]

bool yarp::dev::CiA402MotionControl::getRefPositions ( double * refs )

override

Returns the position-direct references for all joints.

Copies the cached values last sent with setPositions(const double*). Values produced by other motion interfaces are intentionally ignored.

Parameters

refs	Array to store the last position-direct references for all joints.

Returns: true if all cached values were retrieved, false otherwise.

Definition at line 4739 of file CiA402MotionControl.cpp.

◆ getRefSpeed()

bool yarp::dev::CiA402MotionControl::getRefSpeed	(	int	j,
		double *	ref )

override

Gets the current reference speed (profile velocity) for a specific joint.

This function reads the currently configured profile velocity from CiA-402 object 0x6081 via SDO communication.

Parameters

j	Index of the joint (0-based).
ref	Pointer to store the current profile velocity value.

Returns: true if the parameter was successfully read, false otherwise.

Note: This reads the configured maximum velocity for position profiles.; SDO communication may introduce latency for real-time applications.; The returned value reflects the drive's internal configuration.

Definition at line 4527 of file CiA402MotionControl.cpp.

◆ getRefSpeeds() [1/2]

bool yarp::dev::CiA402MotionControl::getRefSpeeds	(	const int	n_joint,
		const int *	joints,
		double *	spds )

override

Gets the current reference speeds (profile velocities) for specific joints.

This function reads the profile velocity configuration for a subset of joints, allowing selective monitoring of profile parameters.

Parameters

n_joint	Number of joints to query (must be > 0).
joints	Array of joint indices to query (each must be valid joint index).
spds	Array to store the profile velocities corresponding to the specified joints.

Returns: true if all parameters were successfully read, false otherwise.

Note: joints and spds arrays must have the same size (n_joint elements).; SDO reads are performed only for specified joints.; Joint indices must be valid (0 to num_axes-1).; Values reflect the drives' current profile velocity settings.

Definition at line 4551 of file CiA402MotionControl.cpp.

◆ getRefSpeeds() [2/2]

bool yarp::dev::CiA402MotionControl::getRefSpeeds ( double * spds )

override

Gets the current reference speeds (profile velocities) for all joints.

This function reads the configured profile velocities from all joints by querying each joint's 0x6081 object via SDO communication.

Parameters

spds	Array to store the profile velocities for all joints (size must equal number of axes).

Returns: true if all parameters were successfully read, false otherwise.

Note: Array size must match the number of configured axes.; All SDO reads are performed sequentially, which may take time.; If any single joint read fails, the entire operation may fail.; Values reflect the drives' current internal configuration.

Definition at line 4539 of file CiA402MotionControl.cpp.

◆ getRefTorque()

bool yarp::dev::CiA402MotionControl::getRefTorque	(	int	j,
		double *	t )

override

Gets the reference torque for a specific joint.

Parameters

j	Index of the joint.
t	Pointer to store the reference torque.

Returns: true if successful, false otherwise.

Definition at line 3578 of file CiA402MotionControl.cpp.

◆ getRefTorques()

bool yarp::dev::CiA402MotionControl::getRefTorques ( double * t )

override

Gets the reference torques for all joints.

Parameters

t	Array to store the reference torques.

Returns: true if successful, false otherwise.

Definition at line 3597 of file CiA402MotionControl.cpp.

◆ getRefVelocities() [1/2]

bool yarp::dev::CiA402MotionControl::getRefVelocities	(	const int	n_joint,
		const int *	joints,
		double *	vels )

override

Gets the reference velocity for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.
vels	Array to store the reference velocities.

Returns: true if successful, false otherwise.

Definition at line 3842 of file CiA402MotionControl.cpp.

◆ getRefVelocities() [2/2]

bool yarp::dev::CiA402MotionControl::getRefVelocities ( double * vels )

override

Gets the reference velocities for all joints.

Parameters

vels	Array to store the reference velocities.

Returns: true if successful, false otherwise.

Definition at line 3826 of file CiA402MotionControl.cpp.

◆ getRefVelocity()

bool yarp::dev::CiA402MotionControl::getRefVelocity	(	const int	joint,
		double *	vel )

override

Gets the reference velocity for a specific joint.

Parameters

joint	Index of the joint.
vel	Pointer to store the reference velocity.

Returns: true if successful, false otherwise.

Definition at line 3807 of file CiA402MotionControl.cpp.

◆ getTargetPosition()

bool yarp::dev::CiA402MotionControl::getTargetPosition	(	int	j,
		double *	ref )

override

Gets the target position for a specific joint.

This function reads the target position that was last commanded to the specified joint. The value reflects the last positionMove() or relativeMove() command issued.

Parameters

j	Index of the joint (0-based).
ref	Pointer to store the target position value.

Returns: true if the parameter was successfully read, false otherwise.

Note: The target position is in joint coordinates (degrees or radians).; If no position command has been issued, the value may be undefined.; This function does not read the actual current position.

Definition at line 4566 of file CiA402MotionControl.cpp.

◆ getTargetPositions() [1/2]

bool yarp::dev::CiA402MotionControl::getTargetPositions	(	const int	n_joint,
		const int *	joints,
		double *	refs )

override

Gets the target positions for specific joints.

This function reads the target positions that were last commanded to a subset of joints. The values reflect the last positionMove() or relativeMove() commands issued for those joints.

Parameters

n_joint	Number of joints to query (must be > 0).
joints	Array of joint indices to query (each must be valid joint index).
refs	Array to store the target positions corresponding to the specified joints.

Returns: true if all parameters were successfully read, false otherwise.

Note: joints and refs arrays must have the same size (n_joint elements).; Target positions are in joint coordinates (degrees or radians).; If no position commands have been issued for a joint, its value may be undefined.; This function does not read the actual current positions.

Definition at line 4592 of file CiA402MotionControl.cpp.

◆ getTargetPositions() [2/2]

bool yarp::dev::CiA402MotionControl::getTargetPositions ( double * refs )

override

Gets the target positions for all joints.

This function reads the target positions that were last commanded to all joints. The values reflect the last positionMove() or relativeMove() commands issued.

Parameters

refs	Array to store the target positions for all joints (size must equal number of axes).

Returns: true if all parameters were successfully read, false otherwise.

Note: Target positions are in joint coordinates (degrees or radians).; If no position commands have been issued, values may be undefined.; This function does not read the actual current positions.

Definition at line 4579 of file CiA402MotionControl.cpp.

◆ getTemperature()

bool yarp::dev::CiA402MotionControl::getTemperature	(	int	m,
		double *	val )

override

Gets the temperature of a specific motor.

This function retrieves the current temperature of the specified motor.

Parameters

m	Index of the motor (0-based).
val	Pointer to store the temperature value.

Returns: true if the parameter was successfully read, false otherwise.

Definition at line 4797 of file CiA402MotionControl.cpp.

◆ getTemperatureLimit()

bool yarp::dev::CiA402MotionControl::getTemperatureLimit	(	int	m,
		double *	temp )

override

Gets the temperature limit of a specific motor.

This function retrieves the temperature limit of the specified motor.

Parameters

m	Index of the motor (0-based).
temp	Pointer to store the temperature limit value.

Returns: true if the parameter was successfully read, false otherwise.

Note: This function is not implemented so it always returns false.

Definition at line 4826 of file CiA402MotionControl.cpp.

◆ getTemperatures()

bool yarp::dev::CiA402MotionControl::getTemperatures ( double * vals )

override

Gets the temperatures of all motors.

This function retrieves the current temperatures of all motors.

Parameters

vals	Array to store the temperature values (size must equal number of motors).

Returns: true if all parameters were successfully read, false otherwise.

Definition at line 4814 of file CiA402MotionControl.cpp.

◆ getTorque()

bool yarp::dev::CiA402MotionControl::getTorque	(	int	j,
		double *	t )

override

Gets the measured torque for a specific joint.

Parameters

j	Index of the joint.
t	Pointer to store the measured torque.

Returns: true if successful, false otherwise.

Definition at line 3544 of file CiA402MotionControl.cpp.

◆ getTorqueRange()

bool yarp::dev::CiA402MotionControl::getTorqueRange	(	int	j,
		double *	min,
		double *	max )

override

Gets the torque range for a specific joint.

Parameters

j	Index of the joint.
min	Pointer to store the minimum torque.
max	Pointer to store the maximum torque.

Returns: true if successful, false otherwise.

Definition at line 3711 of file CiA402MotionControl.cpp.

◆ getTorqueRanges()

bool yarp::dev::CiA402MotionControl::getTorqueRanges	(	double *	min,
		double *	max )

override

Gets the torque ranges for all joints.

Parameters

min	Array to store the minimum torques.
max	Array to store the maximum torques.

Returns: true if successful, false otherwise.

Definition at line 3731 of file CiA402MotionControl.cpp.

◆ getTorques()

bool yarp::dev::CiA402MotionControl::getTorques ( double * t )

override

Gets the measured torques for all joints.

Parameters

t	Array to store the measured torques.

Returns: true if successful, false otherwise.

Definition at line 3563 of file CiA402MotionControl.cpp.

◆ getVelLimits()

bool yarp::dev::CiA402MotionControl::getVelLimits	(	int	axis,
		double *	min,
		double *	max )

override

Gets the velocity limits for a specific axis.

This function retrieves the minimum and maximum velocity limits for the specified axis.

Parameters

axis	Index of the axis (0-based).
min	Pointer to store the minimum velocity limit (in joint units per second, e.g., degrees/s).
max	Pointer to store the maximum velocity limit (in joint units per second, e.g., degrees/s).

Returns: true if the limits were successfully retrieved, false otherwise.

Note: The velocity limits is not implemented in this driver, so it always returns false.

Definition at line 5153 of file CiA402MotionControl.cpp.

◆ open()

bool yarp::dev::CiA402MotionControl::open ( yarp::os::Searchable & config )

override

Opens the device driver.

Parameters

config The configuration parameters for the driver.

Note

The configuration parameters should include:

Parameter Name	Type	Description	Is Mandatory?
ifname	string	Name of the network interface to use	Yes
num_axes	int	Number of axes to control	Yes
first_slave	int	Index of the slave to start from (default: 1)	No
expected_slave_name	string	Expected name of the slave	No

Returns: true if the driver was opened successfully, false otherwise.

Definition at line 1771 of file CiA402MotionControl.cpp.

◆ positionMove() [1/3]

bool yarp::dev::CiA402MotionControl::positionMove ( const double * refs )

override

Commands absolute position moves for all joints simultaneously.

This function initiates coordinated trapezoidal position trajectories for all joints. Each joint moves from its current position to the corresponding target position in the refs array using individual profile parameters.

Parameters

refs	Array of target positions for all joints (size must equal number of axes).

Returns: true if all commands were successfully sent, false otherwise.

Note: Joints move simultaneously but independently - no trajectory synchronization.; Array size must match the number of configured axes.; Use checkMotionDone() to verify when all motions are complete.

Definition at line 4273 of file CiA402MotionControl.cpp.

◆ positionMove() [2/3]

bool yarp::dev::CiA402MotionControl::positionMove	(	const int	n_joint,
		const int *	joints,
		const double *	refs )

override

Commands absolute position moves for a subset of joints.

This function allows selective position control of specific joints while leaving others unaffected. Each specified joint moves to its target position using Profile Position Mode.

Parameters

n_joint	Number of joints to move (must be > 0).
joints	Array of joint indices to move (each must be valid joint index).
refs	Array of target positions corresponding to the specified joints.

Returns: true if all commands were successfully sent, false otherwise.

Note: joints and refs arrays must have the same size (n_joint elements).; Non-specified joints remain in their current control state.; Joint indices must be valid (0 to num_axes-1).

Definition at line 4307 of file CiA402MotionControl.cpp.

◆ positionMove() [3/3]

bool yarp::dev::CiA402MotionControl::positionMove	(	int	j,
		double	ref )

override

Commands an absolute position move for a specific joint using Profile Position Mode (PP).

This function initiates a trapezoidal position trajectory from the current position to the specified target position. The motion profile is governed by the configured profile velocity (0x6081) and profile acceleration (0x6083).

Parameters

j	Index of the joint to move (0-based).
ref	Target position in joint coordinates (degrees or radians, depending on configuration).

Returns: true if the command was successfully sent, false otherwise.

Note: This function uses CiA-402 Profile Position Mode. The actual motion execution depends on the drive's state machine being in "Operation Enabled" state.; The motion is non-blocking. Use checkMotionDone() to verify completion.; Position units depend on the encoder configuration and gear ratios.

Definition at line 4241 of file CiA402MotionControl.cpp.

◆ relativeMove() [1/3]

bool yarp::dev::CiA402MotionControl::relativeMove ( const double * deltas )

override

Commands relative position moves for all joints simultaneously.

This function moves all joints by their respective delta amounts from their current positions. Each joint's target is calculated as current_position + delta.

Parameters

deltas Array of relative displacements for all joints (size must equal number of axes).

Returns: true if all commands were successfully sent, false otherwise.

Note: Current positions are sampled at command time for target calculation.; All joints move simultaneously but independently.; Zero delta values result in no motion for those joints.

Definition at line 4367 of file CiA402MotionControl.cpp.

◆ relativeMove() [2/3]

bool yarp::dev::CiA402MotionControl::relativeMove	(	const int	n_joint,
		const int *	joints,
		const double *	deltas )

override

Commands relative position moves for a subset of joints.

This function moves specific joints by their respective delta amounts while leaving other joints unaffected. Targets are calculated from current positions.

Parameters

n_joint	Number of joints to move (must be > 0).
joints	Array of joint indices to move (each must be valid joint index).
deltas	Array of relative displacements corresponding to the specified joints.

Returns: true if all commands were successfully sent, false otherwise.

Note: joints and deltas arrays must have the same size (n_joint elements).; Current positions are read for target calculation at command time.; Non-specified joints are not affected by this command.

Definition at line 4389 of file CiA402MotionControl.cpp.

◆ relativeMove() [3/3]

bool yarp::dev::CiA402MotionControl::relativeMove	(	int	j,
		double	delta )

override

Commands a relative position move for a specific joint.

This function moves the joint by the specified delta amount from its current position. The motion uses Profile Position Mode with a calculated target position = current_position + delta.

Parameters

j	Index of the joint to move (0-based).
delta	Relative displacement in joint coordinates (degrees or radians).

Returns: true if the command was successfully sent, false otherwise.

Note: The current position is read at command time to calculate the absolute target.; Positive delta values move in the positive joint direction.; Motion profile follows the same trapezoidal trajectory as absolute moves.

Definition at line 4343 of file CiA402MotionControl.cpp.

◆ resetEncoder()

bool yarp::dev::CiA402MotionControl::resetEncoder ( int j )

override

Resets the specified encoder to zero.

Parameters

j	Index of the encoder to reset.

Returns: true if successful, false otherwise.

Definition at line 3244 of file CiA402MotionControl.cpp.

◆ resetEncoders()

bool yarp::dev::CiA402MotionControl::resetEncoders ( )

override

Resets all encoders to zero.

Returns: true if successful, false otherwise.

Definition at line 3250 of file CiA402MotionControl.cpp.

◆ resetMotorEncoder()

bool yarp::dev::CiA402MotionControl::resetMotorEncoder ( int m )

override

Resets the specified motor encoder to zero.

Parameters

m	Index of the motor encoder to reset.

Returns: true if successful, false otherwise.

Definition at line 2995 of file CiA402MotionControl.cpp.

◆ resetMotorEncoders()

bool yarp::dev::CiA402MotionControl::resetMotorEncoders ( )

override

Resets all motor encoders to zero.

Returns: true if successful, false otherwise.

Definition at line 3001 of file CiA402MotionControl.cpp.

◆ run()

void yarp::dev::CiA402MotionControl::run ( )

override

Runs the periodic thread.

This function is called periodically at the specified interval.

Control loop phases: 1) Apply user‑requested control modes (CiA‑402 power state machine) 2) Push user setpoints to PDOs (units and shaft conversions handled) 3) Cyclic exchange over EtherCAT (outputs sent / inputs read) 4) Read back feedback (encoders, torque, safety, timestamp) 5) Diagnostics and bookkeeping (active mode tracking, latching, inhibit)

Definition at line 2784 of file CiA402MotionControl.cpp.

◆ setControlMode()

bool yarp::dev::CiA402MotionControl::setControlMode	(	const int	j,
		const int	mode )

override

Sets the control mode of a specific joint.

Parameters

j	Index of the joint.
mode	Control mode to set.

Returns: true if successful, false otherwise.

Definition at line 3468 of file CiA402MotionControl.cpp.

◆ setControlModes() [1/2]

bool yarp::dev::CiA402MotionControl::setControlModes	(	const int	n,
		const int *	joints,
		int *	modes )

override

Sets the control modes of a subset of joints.

Parameters

n	Number of joints.
joints	Array of joint indices.
modes	Array of control modes to set.

Returns: true if successful, false otherwise.

Definition at line 3491 of file CiA402MotionControl.cpp.

◆ setControlModes() [2/2]

bool yarp::dev::CiA402MotionControl::setControlModes ( int * modes )

override

Sets the control modes of all joints.

Parameters

modes Array of control modes to set.

Returns: true if successful, false otherwise.

Definition at line 3521 of file CiA402MotionControl.cpp.

◆ setEncoder()

bool yarp::dev::CiA402MotionControl::setEncoder	(	int	j,
		double	val )

override

Sets the value of a specific encoder.

Parameters

j	Index of the encoder.
val	Value to set.

Returns: true if successful, false otherwise.

Definition at line 3256 of file CiA402MotionControl.cpp.

◆ setEncoders()

bool yarp::dev::CiA402MotionControl::setEncoders ( const double * vals )

override

Sets the values of all encoders.

Parameters

vals	Array of values to set for each encoder.

Returns: true if successful, false otherwise.

Definition at line 3262 of file CiA402MotionControl.cpp.

◆ setGearboxRatio()

bool yarp::dev::CiA402MotionControl::setGearboxRatio	(	int	m,
		const double	val )

override

Sets the gearbox ratio of a specific motor.

This function sets the gearbox ratio of the specified motor.

Parameters

m	Index of the motor (0-based).
val	Gearbox ratio value to set.

Returns: true if the parameter was successfully set, false otherwise.

Note: This function is not implemented so it always returns false.

Definition at line 4860 of file CiA402MotionControl.cpp.

◆ setInteractionMode()

bool yarp::dev::CiA402MotionControl::setInteractionMode	(	int	axis,
		yarp::dev::InteractionModeEnum	mode )

override

Sets the interaction mode of a specific axis.

Parameters

axis	Index of the axis (0-based).
mode	Interaction mode to set.

Returns: true if the mode was successfully set, false otherwise.

Note: The interaction mode is not implemented in this driver, so it always returns false.

Definition at line 5210 of file CiA402MotionControl.cpp.

◆ setInteractionModes() [1/2]

bool yarp::dev::CiA402MotionControl::setInteractionModes	(	int	n_joints,
		int *	joints,
		yarp::dev::InteractionModeEnum *	modes )

override

Sets the interaction modes of a subset of joints.

Parameters

n_joints	Number of joints.
joints	Array of joint indices.
modes	Array of interaction modes to set.

Returns: true if the modes were successfully set, false otherwise.

Note: The interaction mode is not implemented in this driver, so it always returns false.

Definition at line 5225 of file CiA402MotionControl.cpp.

◆ setInteractionModes() [2/2]

bool yarp::dev::CiA402MotionControl::setInteractionModes ( yarp::dev::InteractionModeEnum * modes )

override

Sets the interaction modes of all joints.

Parameters

modes Array of interaction modes to set.

Returns: true if the modes were successfully set, false otherwise.

Note: The interaction mode is not implemented in this driver, so it always returns false.

Definition at line 5251 of file CiA402MotionControl.cpp.

◆ setLimits()

bool yarp::dev::CiA402MotionControl::setLimits	(	int	axis,
		double	min,
		double	max )

override

Sets the position limits for a specific axis.

This function sets the minimum and maximum position limits for the specified axis. The limits are enforced by the device to prevent motion beyond the defined range.

Parameters

axis	Index of the axis (0-based).
min	Minimum position limit (in joint units, e.g., degrees).
max	Maximum position limit (in joint units, e.g., degrees).

Returns: true if the limits were successfully set, false otherwise.

Definition at line 5072 of file CiA402MotionControl.cpp.

◆ setMotorEncoder()

bool yarp::dev::CiA402MotionControl::setMotorEncoder	(	int	m,
		const double	val )

override

Sets the value of a specific motor encoder.

Parameters

m	Index of the motor encoder.
val	Value to set.

Returns: true if successful, false otherwise.

Definition at line 3015 of file CiA402MotionControl.cpp.

◆ setMotorEncoderCountsPerRevolution()

bool yarp::dev::CiA402MotionControl::setMotorEncoderCountsPerRevolution	(	int	m,
		const double	cpr )

override

Sets the counts per revolution for a specific motor encoder.

Parameters

m	Index of the motor encoder.
cpr	Counts per revolution value to set.

Returns: true if successful, false otherwise.

Definition at line 3007 of file CiA402MotionControl.cpp.

◆ setMotorEncoders()

bool yarp::dev::CiA402MotionControl::setMotorEncoders ( const double * vals )

override

Sets the values of all motor encoders.

Parameters

vals	Array of values to set for each encoder.

Returns: true if successful, false otherwise.

Definition at line 3021 of file CiA402MotionControl.cpp.

◆ setPosition()

bool yarp::dev::CiA402MotionControl::setPosition	(	int	j,
		double	ref )

override

Streams a single joint reference in Cyclic Synchronous Position mode.

Sends an immediate target position for the selected joint using the IPositionDirect interface. The reference is expressed in joint units and is consumed on the next PDO cycle while the joint is in VOCAB_CM_POSITION_DIRECT.

Parameters

j	Index of the joint to command (0-based).
ref	Absolute position target in joint coordinates.

Returns: true if the reference was accepted, false otherwise.

Definition at line 4609 of file CiA402MotionControl.cpp.

◆ setPositions() [1/2]

bool yarp::dev::CiA402MotionControl::setPositions ( const double * refs )

override

Streams references for every configured joint.

Writes a full vector of position targets that will be consumed in the next PDO exchange. All joints must already be in position-direct control mode.

Parameters

refs	Array of absolute position targets for all joints.

Returns: true if the reference vector was queued, false otherwise.

Definition at line 4636 of file CiA402MotionControl.cpp.

◆ setPositions() [2/2]

bool yarp::dev::CiA402MotionControl::setPositions	(	const int	n_joint,
		const int *	joints,
		const double *	refs )

override

Streams references for a subset of joints.

Allows updating multiple joints at once while leaving others untouched. Each joint listed in joints receives the corresponding value in refs during the next EtherCAT cycle.

Parameters

n_joint	Number of joints to update.
joints	Array of joint indices to command (size = n_joint).
refs	Array of absolute position targets (size = n_joint).

Returns: true if all references were queued, false otherwise.

Definition at line 4670 of file CiA402MotionControl.cpp.

◆ setRefAcceleration()

bool yarp::dev::CiA402MotionControl::setRefAcceleration	(	int	j,
		double	acc )

override

(Unused in CSV mode) Sets the reference acceleration for a specific joint.

Parameters

j	Index of the joint.
acc	Reference acceleration (ignored).

Returns: Always returns false. Not used in Cyclic Synchronous Velocity Mode.

Definition at line 3874 of file CiA402MotionControl.cpp.

◆ setRefAccelerations() [1/2]

bool yarp::dev::CiA402MotionControl::setRefAccelerations ( const double * accs )

override

(Unused in CSV mode) Sets the reference accelerations for all joints.

Parameters

accs	Array of reference accelerations (ignored).

Returns: Always returns false. Not used in Cyclic Synchronous Velocity Mode.

Definition at line 3930 of file CiA402MotionControl.cpp.

◆ setRefAccelerations() [2/2]

bool yarp::dev::CiA402MotionControl::setRefAccelerations	(	const int	n_joint,
		const int *	joints,
		const double *	accs )

override

Sets the reference accelerations for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.
accs	Array of reference accelerations (ignored).

Note: This function is not used in Cyclic Synchronous Velocity Mode (CSV).; If the driver is switched to Profile Position Mode (PP), this function call a SDO write and set the reference acceleration (0x6083).

Returns: True in case of success, false otherwise.

Definition at line 4108 of file CiA402MotionControl.cpp.

◆ setRefCurrent()

bool yarp::dev::CiA402MotionControl::setRefCurrent	(	int	m,
		double	curr )

override

Sets the reference current for a specific motor.

Parameters

m	Index of the motor (0-based).
curr	Reference current to command (A).

Returns: true if the reference was successfully applied, false otherwise.

Note: The command may be clamped to the motor's allowable current range.; Effective only when the configured mode accepts current commands.

Definition at line 4961 of file CiA402MotionControl.cpp.

◆ setRefCurrents() [1/2]

bool yarp::dev::CiA402MotionControl::setRefCurrents ( const double * currs )

override

Sets the reference currents for all motors.

Commands current references for all motors in one call. Values outside the allowable range may be saturated by the driver or rejected by the drive.

Parameters

currs Array of reference currents for all motors (A). Size must equal the number of motors/axes.

Returns: true if all references were successfully applied, false otherwise.

Note: Effective only when the underlying operation mode accepts current commands (e.g., current/torque-related modes as configured).

Definition at line 4930 of file CiA402MotionControl.cpp.

◆ setRefCurrents() [2/2]

bool yarp::dev::CiA402MotionControl::setRefCurrents	(	const int	n_motor,
		const int *	motors,
		const double *	currs )

override

Sets the reference currents for a subset of motors.

Allows updating a selected set of motors while leaving others unchanged.

Parameters

n_motor	Number of motors to command (must be > 0).
motors	Array of motor indices to command (each must be valid index).
currs	Array of reference currents (A) corresponding to the specified motors.

Returns: true if all references were successfully applied, false otherwise.

Note: motors and currs must have n_motor elements.; Values may be clamped to each motor's allowable range.

Definition at line 4989 of file CiA402MotionControl.cpp.

◆ setRefSpeed()

bool yarp::dev::CiA402MotionControl::setRefSpeed	(	int	j,
		double	sp )

override

Sets the reference speed (profile velocity) for a specific joint.

This function configures the maximum velocity used during position moves by writing to CiA-402 object 0x6081 (Profile Velocity) via SDO communication. This speed affects all subsequent position moves for the joint.

Parameters

j	Index of the joint (0-based).
sp	Profile velocity in joint coordinates per second (deg/s or rad/s).

Returns: true if the parameter was successfully written, false otherwise.

Note: This sets the maximum velocity for trapezoidal motion profiles.; The actual motion speed may be lower due to acceleration limits.; Changes take effect for subsequent position commands, not current motions.; SDO communication may introduce latency compared to PDO-based commands.

Definition at line 4464 of file CiA402MotionControl.cpp.

◆ setRefSpeeds() [1/2]

bool yarp::dev::CiA402MotionControl::setRefSpeeds ( const double * spds )

override

Sets the reference speeds (profile velocities) for all joints.

This function configures the profile velocities for all joints simultaneously by writing to each joint's 0x6081 object via SDO communication.

Parameters

spds	Array of profile velocities for all joints (size must equal number of axes).

Returns: true if all parameters were successfully written, false otherwise.

Note: Array size must match the number of configured axes.; All SDO writes are performed sequentially, which may take time.; Settings apply to subsequent position moves, not current motions.; If any single joint fails, the entire operation may be marked as failed.

Definition at line 4498 of file CiA402MotionControl.cpp.

◆ setRefSpeeds() [2/2]

bool yarp::dev::CiA402MotionControl::setRefSpeeds	(	const int	n_joint,
		const int *	joints,
		const double *	spds )

override

Sets the reference speeds (profile velocities) for specific joints.

This function allows selective configuration of profile velocities for a subset of joints while leaving others unchanged.

Parameters

n_joint	Number of joints to configure (must be > 0).
joints	Array of joint indices to configure (each must be valid joint index).
spds	Array of profile velocities corresponding to the specified joints.

Returns: true if all parameters were successfully written, false otherwise.

Note: joints and spds arrays must have the same size (n_joint elements).; SDO writes are performed only for specified joints.; Non-specified joints retain their current profile velocity settings.; Joint indices must be valid (0 to num_axes-1).

Definition at line 4512 of file CiA402MotionControl.cpp.

◆ setRefTorque()

bool yarp::dev::CiA402MotionControl::setRefTorque	(	int	j,
		double	t )

override

Sets the reference torque for a specific joint.

Parameters

j	Index of the joint.
t	Reference torque to set.

Returns: true if successful, false otherwise.

Definition at line 3611 of file CiA402MotionControl.cpp.

◆ setRefTorques() [1/2]

bool yarp::dev::CiA402MotionControl::setRefTorques ( const double * t )

override

Sets the reference torques for all joints.

Parameters

t	Array of reference torques to set.

Returns: true if successful, false otherwise.

Definition at line 3638 of file CiA402MotionControl.cpp.

◆ setRefTorques() [2/2]

bool yarp::dev::CiA402MotionControl::setRefTorques	(	const int	n_joint,
		const int *	joints,
		const double *	t )

override

Sets the reference torques for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.
t	Array of reference torques to set.

Returns: true if successful, false otherwise.

Definition at line 3668 of file CiA402MotionControl.cpp.

◆ setTemperatureLimit()

bool yarp::dev::CiA402MotionControl::setTemperatureLimit	(	int	m,
		const double	temp )

override

Sets the temperature limit of a specific motor.

This function sets the temperature limit of the specified motor.

Parameters

m	Index of the motor (0-based).
temp	Temperature limit value to set.

Returns: true if the parameter was successfully set, false otherwise.

Note: This function is not implemented so it always returns false.

Definition at line 4835 of file CiA402MotionControl.cpp.

◆ setVelLimits()

bool yarp::dev::CiA402MotionControl::setVelLimits	(	int	axis,
		double	min,
		double	max )

override

Sets the velocity limits for a specific axis.

This function sets the minimum and maximum velocity limits for the specified axis. The limits are enforced by the device to prevent motion beyond the defined range.

Parameters

axis	Index of the axis (0-based).
min	Minimum velocity limit (in joint units per second, e.g., degrees/s).
max	Maximum velocity limit (in joint units per second, e.g., degrees/s).

Returns: true if the limits were successfully set, false otherwise.

Note: The velocity limits is not implemented in this driver, so it always returns false.

Definition at line 5145 of file CiA402MotionControl.cpp.

◆ stop() [1/3]

bool yarp::dev::CiA402MotionControl::stop ( )

override

Stops motion for all joints.

Returns: true if successful, false otherwise.

Note: In CSV mode, this typically sets all velocity setpoints to zero.

Definition at line 4039 of file CiA402MotionControl.cpp.

◆ stop() [2/3]

bool yarp::dev::CiA402MotionControl::stop	(	const int	n_joint,
		const int *	joints )

override

Stops motion for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.

Returns: true if successful, false otherwise.

Note: In CSV mode, this typically sets the velocity setpoints to zero for the specified joints.; If the driver is switched to Profile Position Mode (PP), this function call a SDO write and set the "Halt Position" command (0x6040, 0x0006) for each specified joint.

Definition at line 4139 of file CiA402MotionControl.cpp.

◆ stop() [3/3]

bool yarp::dev::CiA402MotionControl::stop ( int j )

override

Stops motion for a specific joint.

Parameters

j	Index of the joint.

Returns: true if successful, false otherwise.

Note: In CSV mode, this typically sets the velocity setpoint to zero for the specified joint.

Definition at line 4009 of file CiA402MotionControl.cpp.

◆ velocityMove() [1/3]

bool yarp::dev::CiA402MotionControl::velocityMove ( const double * sp )

override

Commands velocity moves for all joints.

Parameters

sp	Array of desired velocity setpoints for each joint.

Returns: true if successful, false otherwise.

Note: This interface implements Cyclic Synchronous Velocity Mode (CSV), so the command is sent cyclically.

Definition at line 3776 of file CiA402MotionControl.cpp.

◆ velocityMove() [2/3]

bool yarp::dev::CiA402MotionControl::velocityMove	(	const int	n_joint,
		const int *	joints,
		const double *	spds )

override

Commands velocity moves for a subset of joints.

Parameters

n_joint	Number of joints.
joints	Array of joint indices.
spds	Array of desired velocity setpoints for the specified joints.

Returns: true if successful, false otherwise.

Note: This interface implements Cyclic Synchronous Velocity Mode (CSV), so the command is sent cyclically.

Definition at line 4063 of file CiA402MotionControl.cpp.

◆ velocityMove() [3/3]

bool yarp::dev::CiA402MotionControl::velocityMove	(	int	j,
		double	sp )

override

Commands a velocity move for a specific joint.

Parameters

j	Index of the joint.
sp	Desired velocity setpoint (units: deg/s or rad/s, depending on configuration).

Returns: true if successful, false otherwise.

Note: This interface implements Cyclic Synchronous Velocity Mode (CSV), so the command is sent cyclically.

Definition at line 3747 of file CiA402MotionControl.cpp.

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

device/CiA402MotionControl/CiA402MotionControl.h
device/CiA402MotionControl/CiA402MotionControl.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CiA402MotionControl() [1/2]

◆ CiA402MotionControl() [2/2]

◆ ~CiA402MotionControl()

Member Function Documentation

◆ checkMotionDone() [1/3]

◆ checkMotionDone() [2/3]

◆ checkMotionDone() [3/3]

◆ close()

◆ getAxes()

◆ getAxisName()

--------------— IAxisInfo ---------------—

◆ getControlMode()

◆ getControlModes() [1/2]

◆ getControlModes() [2/2]

◆ getCurrent()

◆ getCurrentRange()

◆ getCurrentRanges()

◆ getCurrents()

◆ getEncoder()

◆ getEncoderAcceleration()

◆ getEncoderAccelerations()

◆ getEncoders()

◆ getEncoderSpeed()

◆ getEncoderSpeeds()

◆ getEncodersTimed()

◆ getEncoderTimed()

◆ getGearboxRatio()

◆ getInteractionMode()

◆ getInteractionModes() [1/2]

◆ getInteractionModes() [2/2]

◆ getJointType()

◆ getLastJointFault()

◆ getLimits()

◆ getMotorEncoder()

◆ getMotorEncoderAcceleration()

◆ getMotorEncoderAccelerations()

◆ getMotorEncoderCountsPerRevolution()

◆ getMotorEncoders()

◆ getMotorEncoderSpeed()

◆ getMotorEncoderSpeeds()

◆ getMotorEncodersTimed()

◆ getMotorEncoderTimed()

◆ getNumberOfMotorEncoders()

◆ getNumberOfMotors()

◆ getRefAcceleration()

◆ getRefAccelerations() [1/2]

◆ getRefAccelerations() [2/2]

◆ getRefCurrent()

◆ getRefCurrents()

◆ getRefPosition()

◆ getRefPositions() [1/2]

◆ getRefPositions() [2/2]

◆ getRefSpeed()

◆ getRefSpeeds() [1/2]

◆ getRefSpeeds() [2/2]

◆ getRefTorque()

◆ getRefTorques()

◆ getRefVelocities() [1/2]

◆ getRefVelocities() [2/2]

◆ getRefVelocity()

◆ getTargetPosition()

◆ getTargetPositions() [1/2]

◆ getTargetPositions() [2/2]

◆ getTemperature()

◆ getTemperatureLimit()

◆ getTemperatures()

◆ getTorque()

◆ getTorqueRange()

◆ getTorqueRanges()

◆ getTorques()

◆ getVelLimits()

◆ open()

◆ positionMove() [1/3]

◆ positionMove() [2/3]

◆ positionMove() [3/3]

◆ relativeMove() [1/3]