| ActivateOvervoltageProtection | Enable overvoltage protection |
| ActualAcceleration | The current acceleration (read only) |
| ActualCommutationOffset | This value represents the internal commutation offset |
| ActualLoadValue | Readout of the actual load value with used for stall detection (stallGuard2) |
| ActualModuleSupplyCurrent | Get actual supply current of the module |
| ActualMotorDriverTemperature | Actual temperature of the motor driver |
| ActualMotorVoltage | Actual supply voltage |
| ActualPosition | Actual position of one gripper bar |
| ActualVelocity | Actual velocity of one gripper bar |
| ApproveProtectedParameters | Enter a password to approve the change of protected parameters |
| BarSpacingOffset | Represents a bar spacing offset |
| BaseKinematic | Abstract class of a base / platform kinematic |
| BEMFConstant | BEMF constant of motor |
| CalibrateGripper | Calibrate the gripper |
| CalibrateJoint | Calibrates the joint |
| ChopperBlankTime | Selects the comparator blank time |
| ChopperHysteresisDecrement | Hysteresis decrement setting |
| ChopperHysteresisEnd | Hysteresis end setting |
| ChopperHysteresisStart | Hysteresis start setting |
| ChopperMode | Selection of the chopper mode: 0 spread cycle 1 classic const |
| ChopperOffTime | The off time setting controls the minimum chopper frequency |
| ClearI2tExceededFlag | Clear the flag that indicates that the I2t sum has exceeded the I2t limit |
| ClearMotorControllerTimeoutFlag | Clear the flag that indicates a communication timeout between the EtherCAT master and the controller |
| CommutationMode | The Commutation Mode |
| CommutationMotorCurrent | Motor current for controlled commutation |
| ConfigFile | Reads and writes a configuration file |
| CurrentControlLoopDelay | Delay of current limitation algorithm / PID current regulator |
| CurrentError | Actual error of current PID regulator |
| CurrentErrorSum | Sum of errors of current PID regulator |
| DataObjectLockFree< T > | This DataObject is a Lock-Free implementation, such that reads and writes can happen concurrently without priority inversions |
| DataTrace | Creates a trace of all process data and reads all configuration parameter from one joint |
| DoubleStepEnable | Every edge of the cycle releases a step/microstep |
| DParameterCurrentControl | D-Parameter of PID current regulator |
| DParameterFirstParametersPositionControl | D-Parameter of PID position regulator (first position parameter set) |
| DParameterFirstParametersSpeedControl | D-Parameter of PID velocity regulator |
| DParameterSecondParametersPositionControl | D-Parameter of PID position regulator (second position parameter set) |
| DParameterSecondParametersSpeedControl | D-Parameter of PID velocity regulator (second position parameter set) |
| DParameterTrajectoryControl | D-Parameter of PID trajectory regulator |
| ec_ALstatuscodelist_t | AL status code list type definition |
| ec_configlist_t | Slave configuration structure |
| ec_eepromFMMUt | SII FMMU structure |
| ec_eepromPDOt | Record to store rxPDO and txPDO table from eeprom |
| ec_eepromSMt | SII SM structure |
| ec_emcyt | Emergency request structure |
| ec_eringt | Ringbuf for error storage |
| ec_errort | Struct to retrieve errors |
| ec_groupt | For list of ethercat slave groups |
| ec_idxstackT | Stack structure to store segmented LRD/LWR/LRW constructs |
| ec_ODlistt | |
| ec_OElistt | |
| ec_sdoerrorlist_t | SDO error list type definition |
| ec_slavet | For list of ethercat slaves detected |
| ec_soeerrorlist_t | SoE error list type definition |
| ec_stackT | Pointer structure to Tx and Rx stacks |
| EncoderResolution | Encoder Steps per Rotation |
| EncoderStopSwitch | Encoder stop switch |
| EncoderTicksPerRound | Resolution of the encoders, it is needed for the calculations of the youBot Driver |
| ErrorAndStatus | Error and Status flags of the joint |
| ErrorFlags | Bit 0: stallGuardTM status (1: threshold reached) Bit 1: Overtemperature (1: driver is shut down due to overtemperature) Bit 2: Pre-warning overtemperature (1: Threshold is exceeded) Bit 3: Short to ground A (1: Short condition etected, driver currently shut down) Bit 4: Short to ground B (1: Short condition detected, driver currently shut down) Bit 5: Open load A (1: no chopper event has happened during the last period with constant coil polarity) Bit 6: Open load B (1: no chopper event has happened during the last period with constant coil polarity) Bit 7: Stand still (1: No step impulse occurred on the step input during the last 2^20 clock cycles) |
| EtherCATConnectionException | EtherCAT Connection Error |
| EthercatMaster | The Ethercat Master factory |
| EthercatMasterInterface | The Ethercat Master interface |
| EthercatMasterWithoutThread | The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system |
| EthercatMasterWithThread | The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system |
| FileNotFoundException | File not found exception |
| FirmwareVersion | Firmware version of the joint |
| FourSwedishWheelOmniBaseKinematic | Implementation of a base kinematic with four swedish wheels |
| FourSwedishWheelOmniBaseKinematicConfiguration | Configuration for the base kinematic with four swedish wheels |
| Freewheeling | Time after which the power to the motor will be cut when its velocity has reached zero |
| GearRatio | Gear ratio which is needed for the calculations in the youBot driver |
| Gripper | Abstract gripper |
| GripperBarEncoderSetpoint | The encoder setpoint for one bar |
| GripperBarName | The name for a gripper bar or finger |
| GripperBarPositionSetPoint | The bar position for a one gripper bar |
| GripperBarSpacingSetPoint | Setpoint length of the bar spacing for a one DOF gripper |
| GripperData | Abstract class of gripper data |
| GripperDataTrace | Creates a trace of one parameter of the gripper |
| GripperFirmwareVersion | Firmware version of the gripper |
| GripperParameter | Abstract gripper parameter |
| GripperSensedBarPosition | The sensed bar position for a one gripper bar |
| GripperSensedBarSpacing | The sensed bar spacing for a one DOF gripper |
| GripperSensedVelocity | The sensed bar velocity for a one DOF gripper |
| HallSensorPolarityReversal | Hall sensor invert |
| I2tExceedCounter | Counts how often an I2t sum was higher than the I2t limit |
| I2tLimit | An actual I2t sum that exceeds this limit leads to increasing the I2t exceed counter |
| I2tSum | Actual sum of the I2t monitor |
| IClippingParameterCurrentControl | I-Clipping Parameter of PID current regulator |
| IClippingParameterFirstParametersPositionControl | Adjust in standstill to lowest possible value at which the motor keeps its position |
| IClippingParameterFirstParametersSpeedControl | This PID parameter set is used at lower velocity |
| IClippingParameterSecondParametersPositionControl | Adjust in standstill to lowest possible value at which the motor keeps its position |
| IClippingParameterSecondParametersSpeedControl | I-Clipping Parameter of PID current regulator |
| IClippingParameterTrajectoryControl | Gives a limit for the I sum part of the trajectory regulator |
| InitializationMode | Initialization Mode |
| InitializeJoint | Initialize Joint |
| InitSineDelay | Duration for sine initialization sequence |
| InverseMovementDirection | Inverse the joint movement direction |
| IParameterCurrentControl | I-Parameter of PID current regulator |
| IParameterFirstParametersPositionControl | I-Parameter of PID position regulator (first position parameter set) |
| IParameterFirstParametersSpeedControl | I-Parameter of PID velocity regulator |
| IParameterSecondParametersPositionControl | I-Parameter of PID position regulator (second position parameter set) |
| IParameterSecondParametersSpeedControl | I-Parameter of PID velocity regulator (second position parameter set) |
| IParameterTrajectoryControl | I-Parameter of PID trajectory regulator |
| Joint | Abstract joint |
| JointAngleSetpoint | Set-point angle / position of the joint |
| JointComputedData | Abstract data class for computed joint data |
| JointComputedSetpoint | Abstract data class for computed joint data setpoints |
| JointControllerComputedData | Abstract data class for data which have been computed by the hardware controller |
| JointCurrentSetpoint | Set-point current of the joint |
| JointData | Abstract data class for joints |
| JointDataSetpoint | Abstract data class for commanded joint data |
| JointEncoderSetpoint | Encoder ticks setpoint of the joint |
| JointErrorException | Joint error exception |
| JointLimitMonitor | It monitors the joint position and will decelerate and stop the joint if it is close the limits |
| JointLimits | Joint position limits in encoder ticks |
| JointLimitsRadian | Joint position limits in radian |
| JointName | Name of the joint |
| JointParameter | Abstract joint parameter |
| JointParameterException | Joint parameter exception |
| JointPWMSetpoint | Pulse-width modulation set-point of the joint |
| JointRampGeneratorVelocity | Sensed velocity of the joint |
| JointRoundsPerMinuteSetpoint | Rounds per minute set-point of the joint |
| JointSensedAngle | Sensed position / angle of the joint |
| JointSensedCurrent | Sensed electric current of the joint |
| JointSensedData | Abstract data class for sensed / measured joint data |
| JointSensedEncoderTicks | Sensed encoder ticks of the joint |
| JointSensedPWM | Actual pwm value of the joint |
| JointSensedRoundsPerMinute | Sensed rounds per minute (rpm) of the joint |
| JointSensedTorque | This torque of the joint is computed from the actual current |
| JointSensedVelocity | Sensed velocity of the joint |
| JointTorqueSetpoint | The torque set-point of the joint will be set by setting the computed current set-point |
| JointTrajectory | Joint Trajectory representation |
| JointTrajectoryController | Joint Trajectory Controller |
| JointVelocitySetpoint | Set-point velocity of the joint |
| KeyNotFoundException | Key in configuration file not found exception |
| Logger | Implementation logging to console and to a file |
| mailboxInputBuffer | Input part from the EtherCAT mailbox message of the youBot slaves |
| mailboxOutputBuffer | Output part from the EtherCAT mailbox message of the youBot slaves |
| MassInertiaConstant | Mass inertia constant for position regulation |
| MaxEncoderValue | The encoder value when the gripper has reached it's maximum bar spacing position |
| MaximumAcceleration | Acceleration parameter for velocity control and position control |
| MaximumCurrent | The most important motor setting, since too high values might cause motor damage! The maximum value is 255 |
| MaximumMotorCurrent | Maximum allowed current |
| MaximumPositioningSpeed | The limit for acceleration (and deceleration) |
| MaximumPositioningVelocity | The maximum velocity used for move to position command when executing a ramp to a position |
| MaximumVelocityToSetPosition | Maximum velocity at which end position can be set |
| MaxTravelDistance | The maximum bar spacing distance of the gripper |
| MicrostepResolution | 0: full step 1: half step 2: 4 microsteps 3: 8 microsteps 4: 16 microsteps 5: 32 microsteps 6: 64 microsteps 7: 128 microsteps 8: 256 microsteps |
| MinimumSpeed | Should always be set 1 to ensure exact reaching of the target position |
| MotorAcceleration | Acceleration parameter for velocity control and position control |
| MotorCoilResistance | Resistance of motor coil |
| MotorControllerTimeout | Set/Get Timeout to determine an interrupted communication with the EtherCAT master |
| MotorHaltedVelocity | If the actual speed is below this value the motor halted flag will be set |
| MotorPoles | Number of motor poles |
| OneDOFGripper | Abstract gripper with one degree of freedom |
| OneDOFGripperData | Abstract class of data for gripper with one degree of freedom |
| OperationalTime | Counts the module operational time |
| oro__xchg_dummy | |
| oro_atomic_t | Structure that contains an int for atomic operations |
| PACKED | SDO structure, not to be confused with EcSDOserviceT |
| Parameter | Abstract parameter |
| PidController | A basic pid class |
| PIDControlTime | PID calculation delay: Set operational frequency PID |
| PositionControlSwitchingThreshold | Switching threshold for position control between the first and second set of parameters |
| PositionError | Actual error of PID position regulator |
| PositionErrorSum | Sums of errors of PID position regulator |
| PositionSetpoint | Position setpoint for one gripper bar |
| PositionTargetReachedDistance | Maximum distance at which the position end flag is set |
| PowerDownDelay | Standstill period before the current is changed down to standby current |
| PParameterCurrentControl | P-Parameter of PID current regulator |
| PParameterFirstParametersPositionControl | P-Parameter of PID position regulator (first position parameter set) |
| PParameterFirstParametersSpeedControl | P-Parameter of PID velocity regulator |
| PParameterSecondParametersPositionControl | P-Parameter of PID position regulator (second position parameter set) |
| PParameterSecondParametersSpeedControl | P-Parameter of PID velocity regulator (second position parameter set) |
| PParameterTrajectoryControl | P-Parameter of PID trajectory regulator |
| PulseDivisor | The exponent of the scaling factor for the pulse (step) generator should be de/incremented carefully (in steps of one) |
| RampDivisor | The exponent of the scaling factor for the ramp generator- should be de/incremented carefully (in steps of one) |
| RampGeneratorSpeed | The actual speed of the velocity ramp used for positioning and velocity mode |
| RampGeneratorSpeedAndPositionControl | Switches the ramp generator for speed and position control on and off |
| RampMode | Automatically set when using ROR, ROL, MST and MVP |
| ReversingEncoderDirection | Encoder direction Set this flag in a way, that turn right increases position counter |
| Segment | Joint trajectory segment |
| SetEncoderCounterZeroAtNextNChannel | Set Encoder counter to zero at next N channel event |
| SetEncoderCounterZeroAtNextSwitch | Set encoder counter to zero at next switch event |
| SetEncoderCounterZeroOnlyOnce | 1: Set encoder counter zero only once NULL 0: always at an N channel event, respectively switch event |
| ShortDetectionTimer | 0: 3.2 s 1: 1.6 s 2: 1.2 s 3: 0.8 s Use default value! |
| ShortProtectionDisable | 0: Short to GND protection is on 1: Short to GND protection is disabled Use default value! |
| SineInitializationVelocity | Velocity for sine initialization |
| SlaveMessageInput | Input part from the EtherCat message of the youBot EtherCat slaves |
| SlaveMessageOutput | Output part from the EtherCat message of the youBot EtherCat slaves |
| SlopeControlHighSide | Determines the slope of the motor driver outputs |
| SlopeControlLowSide | Determines the slope of the motor driver outputs |
| SmartEnergyActualCurrent | This status value provides the actual motor current setting as controlled by coolStepTM |
| SmartEnergyCurrentDownStep | Sets the number of stallGuard2 readings current down above the upper threshold necessary for each step current decrement of the motor current |
| SmartEnergyCurrentMinimum | Sets the lower motor current limit for current minimum coolStep operation by scaling the CS (Current Scale, see axis parameter 6) value |
| SmartEnergyCurrentUpStep | Sets the current increment step |
| SmartEnergyHysteresis | Sets the distance between the lower and the upper threshold for stallGuard2TM reading |
| SmartEnergyHysteresisStart | The lower threshold for the stallGuard2 value (see smart Energy current up step) |
| SmartEnergySlowRunCurrent | Sets the motor current which is used below the threshold speed |
| SmartEnergyThresholdSpeed | Above this speed coolStep becomes enabled |
| SortTreeVector | Keep track of sortorder from original configfile |
| SpeedControlSwitchingThreshold | Adjusts the limit to switch between first velocity PID parameter set and second velocity PID parameter set |
| Spline | Spline for a joint trajectory coef[0] + coef[1]*t + |
| StallGuard2FilterEnable | Enables the stallGuard2 filter for more precision of the measurement |
| StallGuard2Threshold | This signed value controls stallGuard2 threshold level for stall output and sets the optimum measurement range for readout |
| StandbyCurrent | The current limit two seconds after the motor has stopped |
| StepInterpolationEnable | Step interpolation is supported with a 16 microstep setting only |
| StopOnStall | Motor stop in case of stall |
| StopSwitchPolarity | Stop switch polarity |
| TargetPositionReached | Indicates that the actual position equals the target position |
| ThermalWindingTimeConstant | Thermal winding time constant for the used motor |
| TorqueConstant | Resolution of the encoders, it is needed for the calculations of the youBot Driver |
| TrajectorySegment | Joint Trajectory Segment |
| VelocityError | Actual error of PID velocity regulator |
| VelocityErrorSum | Sums of Errors of PID velocity regulator |
| VelocitySetpoint | Velocity setpoint for one gripper bar |
| VelocityThresholdForHallFX | Velocity to switch from controlled to hallFX mode |
| Vsense | Sense resistor voltage based current scaling 0: Full scale sense resistor voltage is 1/18 VDD 1: Full scale sense resistor voltage is 1/36 VDD (refers to a current setting of 31 and DAC value 255) Use default value |
| WheeledBaseKinematic | Abstract class of a wheeled based / platform kinematic |
| YouBotApiJointParameter | Abstract youBot API joint parameter |
| YouBotArmTest | A unit test for the youBot arm |
| YouBotArmTestWithoutThread | A unit test for the youBot arm |
| YouBotBase | It groups the base joints together |
| YouBotBaseKinematicsTest | A unit test for the base kinematics |
| YouBotBaseTest | A unit test for the youBot base |
| YouBotBaseTestWithoutThread | A unit test for one youbot joint communicating without a thread |
| YouBotGripper | The youBot gripper with one degree of freedom |
| YouBotGripperBar | One bar of the youBot gripper |
| YouBotGripperParameter | Abstract youBot gripper parameter |
| YouBotGripperTest | A unit test for the youBot gripper |
| YouBotJoint | YouBot joint for the base and the manipulator |
| YouBotJointParameter | Abstract youBot joint parameter |
| YouBotJointParameterPasswordProtected | Abstract youBot joint parameter |
| YouBotJointParameterReadOnly | Abstract youBot joint parameter which can be read only |
| YouBotJointStorage | Stores YouBotJoint informations which are needed in the driver |
| YouBotManipulator | It groups the manipulator joints and the gripper together |
| YouBotSlaveMailboxMsg | EtherCAT mailbox message of the youBot slaves |
| YouBotSlaveMailboxMsgThreadSafe | EtherCAT mailbox message of the youBot slaves (thread safe) |
| YouBotSlaveMsg | EtherCat message of the youBot EtherCat slaves |
| YouBotSlaveMsgThreadSafe | EtherCat message of the youBot EtherCat slaves which is thread safe |
