mm::node::Cia402Drive Class Reference

Borrowed view of a CiA402 drive — the device control state machine, operation modes, and the standard cyclic setpoints, expressed over a Device's parameter access. More...

#include <cia402_drive.h>

Inheritance diagram for mm::node::Cia402Drive:

Collaboration diagram for mm::node::Cia402Drive:

Public Member Functions
	Cia402Drive (Device &device)
	Binds an (unchecked) CiA402 view to device. Prefer createCia402Drive.
std::expected< cia402::State, std::string >	state () const
	Reads and decodes the current state machine state (statusword 0x6041).
std::expected< uint16_t, std::string >	statusword () const
	Reads the raw statusword (0x6041).
std::expected< uint16_t, std::string >	controlword () const
	Reads the last-commanded controlword (0x6040).
std::expected< void, std::string >	setControlword (uint16_t value)
	Writes the controlword (0x6040) verbatim.
std::expected< cia402::OperationMode, std::string >	operationMode () const
	Reads the active operation mode (display object 0x6061).
std::expected< void, std::string >	setOperationMode (cia402::OperationMode mode)
	Requests an operation mode (0x6060). The drive reflects it in 0x6061 once accepted.
std::expected< void, std::string >	shutdown ()
	Shutdown: → ReadyToSwitchOn.
std::expected< void, std::string >	switchOn ()
	Switch on: ReadyToSwitchOn → SwitchedOn (also disables operation from enabled).
std::expected< void, std::string >	enableOperation ()
	Enable operation: SwitchedOn → OperationEnabled.
std::expected< void, std::string >	disableVoltage ()
	Disable voltage: → SwitchOnDisabled.
std::expected< void, std::string >	quickStop ()
	Quick stop: → QuickStopActive.
std::expected< void, std::string >	faultReset ()
	Fault reset: pulses bit 7 (set then clear) to clear a latched fault.
std::expected< void, std::string >	enable (std::chrono::milliseconds timeout=std::chrono::milliseconds(2000))
	Drives the state machine to OperationEnabled, walking every intermediate transition.
std::expected< void, std::string >	disable ()
	Brings the drive to SwitchOnDisabled (disable voltage). Single transition.
std::expected< void, std::string >	setTargetPosition (int32_t counts)
	Writes target position (0x607A, INTEGER32) — CSP / PP.
std::expected< void, std::string >	setTargetVelocity (int32_t value)
	Writes target velocity (0x60FF, INTEGER32) — CSV / PV.
std::expected< void, std::string >	setTargetTorque (int16_t perMille)
	Writes target torque (0x6071, INTEGER16, per-mille of rated) — CST / PT.
std::expected< int32_t, std::string >	positionActualValue () const
	Reads actual position (0x6064, INTEGER32).
std::expected< int32_t, std::string >	velocityActualValue () const
	Reads actual velocity (0x606C, INTEGER32).
Public Member Functions inherited from mm::node::ProfileDevice
	ProfileDevice (Device &device)
	Binds the view to device. The reference must outlive this view.
Device &	device ()
	The underlying generic device this view operates on.
const Device &	device () const

Additional Inherited Members
Protected Attributes inherited from mm::node::ProfileDevice
Device &	device_
	The borrowed device — the only data member permitted in the whole view chain.

Detailed Description

Borrowed view of a CiA402 drive — the device control state machine, operation modes, and the standard cyclic setpoints, expressed over a Device's parameter access.

Every method routes through Device::readValue / writeValue, so it transparently uses the live PDO image while the device is exchanging (SAFE-OP/OP) and falls back to SDO otherwise — the caller never chooses the transport. The view is stateless (see ProfileDevice): the drive's actual state is its statusword, re-read on every query.

Construct via createCia402Drive, which validates that the device actually implements the profile before binding the view. The bare constructor is unchecked — for tests or already-validated paths.

Note

Single-shot, here-and-now operations only. Multi-cycle procedures (homing runs, calibration) belong in a CyclicTask that re-resolves its Device each cycle, not in a long-lived instance of this view.

Constructor & Destructor Documentation

Cia402Drive()

mm::node::Cia402Drive::Cia402Drive ( Device &  device )

inlineexplicit

Binds an (unchecked) CiA402 view to device. Prefer createCia402Drive.

Member Function Documentation

controlword()

std::expected< uint16_t, std::string > mm::node::Cia402Drive::controlword

(

)

const

Reads the last-commanded controlword (0x6040).

disable()

std::expected< void, std::string > mm::node::Cia402Drive::disable

(

)

Brings the drive to SwitchOnDisabled (disable voltage). Single transition.

disableVoltage()

std::expected< void, std::string > mm::node::Cia402Drive::disableVoltage

(

)

Disable voltage: → SwitchOnDisabled.

enable()

std::expected< void, std::string > mm::node::Cia402Drive::enable

(

std::chrono::milliseconds

timeout = std::chrono::milliseconds(2000)

)

Drives the state machine to OperationEnabled, walking every intermediate transition.

Reads the state, issues the single transition that advances toward OperationEnabled (resetting first if faulted), and polls until the drive reaches it or timeout elapses. Intended for the control-plane (HTTP) thread — it briefly sleeps between polls and must never be called from the RT loop. For the drive to actually advance, process-data exchange must be running (the statusword has to update between polls).

Parameters

timeout

Maximum time to wait for OperationEnabled.

Returns

Void once OperationEnabled is reached, or an error string on a bus failure, a fault that will not clear, or timeout.

enableOperation()

std::expected< void, std::string > mm::node::Cia402Drive::enableOperation

(

)

Enable operation: SwitchedOn → OperationEnabled.

faultReset()

std::expected< void, std::string > mm::node::Cia402Drive::faultReset

(

)

Fault reset: pulses bit 7 (set then clear) to clear a latched fault.

operationMode()

std::expected< cia402::OperationMode, std::string > mm::node::Cia402Drive::operationMode

(

)

const

Reads the active operation mode (display object 0x6061).

positionActualValue()

std::expected< int32_t, std::string > mm::node::Cia402Drive::positionActualValue

(

)

const

Reads actual position (0x6064, INTEGER32).

quickStop()

std::expected< void, std::string > mm::node::Cia402Drive::quickStop

(

)

Quick stop: → QuickStopActive.

setControlword()

std::expected< void, std::string > mm::node::Cia402Drive::setControlword

(

uint16_t

value

)

Writes the controlword (0x6040) verbatim.

Sets every bit as given — use when composing a mode-specific controlword (e.g. the homing-start or new-setpoint bits). For pure state-machine transitions prefer the named transition methods, which preserve the mode-specific and halt bits.

setOperationMode()

std::expected< void, std::string > mm::node::Cia402Drive::setOperationMode

(

cia402::OperationMode

mode

)

Requests an operation mode (0x6060). The drive reflects it in 0x6061 once accepted.

setTargetPosition()

std::expected< void, std::string > mm::node::Cia402Drive::setTargetPosition

(

int32_t

counts

)

Writes target position (0x607A, INTEGER32) — CSP / PP.

setTargetTorque()

std::expected< void, std::string > mm::node::Cia402Drive::setTargetTorque

(

int16_t

perMille

)

Writes target torque (0x6071, INTEGER16, per-mille of rated) — CST / PT.

setTargetVelocity()

std::expected< void, std::string > mm::node::Cia402Drive::setTargetVelocity

(

int32_t

value

)

Writes target velocity (0x60FF, INTEGER32) — CSV / PV.

shutdown()

std::expected< void, std::string > mm::node::Cia402Drive::shutdown

(

)

Shutdown: → ReadyToSwitchOn.

state()

std::expected< State, std::string > mm::node::Cia402Drive::state

(

)

const

Reads and decodes the current state machine state (statusword 0x6041).

statusword()

std::expected< uint16_t, std::string > mm::node::Cia402Drive::statusword

(

)

const

Reads the raw statusword (0x6041).

switchOn()

std::expected< void, std::string > mm::node::Cia402Drive::switchOn

(

)

Switch on: ReadyToSwitchOn → SwitchedOn (also disables operation from enabled).

velocityActualValue()

std::expected< int32_t, std::string > mm::node::Cia402Drive::velocityActualValue

(

)

const

Reads actual velocity (0x606C, INTEGER32).

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

• libs/node/cia402_drive.h
• libs/node/cia402_drive.cc