EtherCATEncoder Class Reference

An EtherCAT Encoder (EL5101). More...

Classes
struct	PosInfo
struct	SetPosInfo
Public Member Functions
	EtherCATEncoder (unsigned char startaddressinput, unsigned char startaddressoutput, unsigned int resolution=65536, bool upcounting=true)
void	update ()
virtual int	positionGet () const
	Get the position within the current turn.
virtual int	turnGet () const
	Get the current turn.
virtual void	positionSet (int pos)
	Set the position within the current turn.
virtual void	turnSet (int t)
	Set the current turn.
virtual int	resolution () const
	Return the position resolution.
virtual bool	upcounting () const
	Returns true if after a positive turn increment, position increments positively.

Detailed Description

An EtherCAT Encoder (EL5101).

Definition at line 12 of file EtherCATEncoder.hpp.

virtual int resolution ( ) const [inline, virtual]

Return the position resolution.

This number can be negative or positive and denotes the the maximal or minimal value positionGet().

Definition at line 143 of file EtherCATEncoder.hpp.

virtual bool upcounting ( ) const [inline, virtual]

Returns true if after a positive turn increment, position increments positively.

Meaning from 0 to |resolution()| or from resolution() to zero if resolution() < 0

Definition at line 151 of file EtherCATEncoder.hpp.

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