mm::node::cia402 Namespace Reference

Namespaces
namespace	objects

Classes
struct	FsaTransition
	The next step of a walk toward a target state. More...
struct	StandardOperationMode
	One row of the standard operation-mode table — a mode, the 0x6502 bit that advertises it, and the two names the profile gives it. More...

Enumerations
enum	Object : uint16_t {   kErrorCode = 0x603F , kControlword = 0x6040 , kStatusword = 0x6041 , kQuickStopOptionCode = 0x605A ,   kModeOfOperation = 0x6060 , kModeOfOperationDisplay = 0x6061 , kPositionDemandValue = 0x6062 , kPositionActualValue = 0x6064 ,   kFollowingErrorWindow = 0x6065 , kFollowingErrorTimeout = 0x6066 , kPositionWindow = 0x6067 , kPositionWindowTime = 0x6068 ,   kVelocityDemandValue = 0x606B , kVelocityActualValue = 0x606C , kVelocityWindow = 0x606D , kVelocityWindowTime = 0x606E ,   kVelocityThreshold = 0x606F , kVelocityThresholdTime = 0x6070 , kTargetTorque = 0x6071 , kMaxTorque = 0x6072 ,   kMaxCurrent = 0x6073 , kTorqueDemand = 0x6074 , kMotorRatedCurrent = 0x6075 , kMotorRatedTorque = 0x6076 ,   kTorqueActualValue = 0x6077 , kDcLinkCircuitVoltage = 0x6079 , kTargetPosition = 0x607A , kPositionRangeLimit = 0x607B ,   kHomeOffset = 0x607C , kSoftwarePositionLimit = 0x607D , kPolarity = 0x607E , kMaxMotorSpeed = 0x6080 ,   kProfileVelocity = 0x6081 , kProfileAcceleration = 0x6083 , kProfileDeceleration = 0x6084 , kQuickStopDeceleration = 0x6085 ,   kMotionProfileType = 0x6086 , kTorqueSlope = 0x6087 , kTorqueProfileType = 0x6088 , kGearRatio = 0x6091 ,   kFeedConstant = 0x6092 , kHomingMethod = 0x6098 , kHomingSpeeds = 0x6099 , kHomingAcceleration = 0x609A ,   kSiUnitVelocity = 0x60A9 , kVelocityOffset = 0x60B1 , kTorqueOffset = 0x60B2 , kTouchProbeFunction = 0x60B8 ,   kTouchProbeStatus = 0x60B9 , kTouchProbe1PositiveEdge = 0x60BA , kTouchProbe1NegativeEdge = 0x60BB , kTouchProbeTimeStamp1PositiveValue = 0x60D1 ,   kTouchProbeTimeStamp1NegativeValue = 0x60D2 , kPositioningOptionCode = 0x60F2 , kFollowingErrorActualValue = 0x60F4 , kControlEffort = 0x60FA ,   kPositionDemandInternalValue = 0x60FC , kDigitalInputs = 0x60FD , kDigitalOutputs = 0x60FE , kTargetVelocity = 0x60FF ,   kSupportedDriveModes = 0x6502 }
	Standard CiA402 object dictionary indices used by the drive profile, ordered by index. More...
enum class	OperationMode : int8_t {   kNoMode = 0 , kProfilePosition = 1 , kVelocity = 2 , kProfileVelocity = 3 ,   kProfileTorque = 4 , kHoming = 6 , kInterpolatedPosition = 7 , kCyclicSyncPosition = 8 ,   kCyclicSyncVelocity = 9 , kCyclicSyncTorque = 10 , kCyclicSyncTorqueCommutationAngle = 11 }
	CiA402 operation modes (object 0x6060 / 0x6061 values). More...
enum class	State : uint8_t {   kNotReadyToSwitchOn , kSwitchOnDisabled , kReadyToSwitchOn , kSwitchedOn ,   kOperationEnabled , kQuickStopActive , kFaultReactionActive , kFault }
	States of the CiA402 device control state machine (decoded from the statusword). More...
enum	Command : uint16_t {   kCmdShutdown = 0x0006 , kCmdSwitchOn = 0x0007 , kCmdEnableOperation = 0x000F , kCmdDisableVoltage = 0x0000 ,   kCmdQuickStop = 0x0002 , kCmdFaultReset = 0x0080 }
	Canonical controlword command-bit patterns (the value of the bits in kCommandMask). More...
enum class	FsaAction : uint8_t { kArrived , kCommand , kWait , kUnreachable }
	What a master should do next, having observed one state and wanting another. More...

Functions
constexpr std::optional< OperationMode >	toOperationMode (int value)
	Maps a raw mode value (as written to 0x6060 / read from 0x6061) to a known operation mode. Rejects values outside the standard set so an API boundary can 400 an unknown mode.
constexpr State	decodeState (uint16_t statusword)
	Decodes the CiA402 state machine state from a statusword (0x6041) value.
constexpr bool	isFaulted (uint16_t statusword)
	Whether the statusword's fault bit (bit 3) is set, gated to the faulted states.
constexpr std::string_view	toString (State state)
	Human-readable name of a state (for logging / JSON). Never returns nullptr.
constexpr std::string_view	toString (OperationMode mode)
	Human-readable name of an operation mode (for logging / JSON). Never nullptr.
constexpr bool	quickStopHolds (int16_t optionCode)
	Whether a quick stop configured with optionCode leaves the drive in Quick Stop Active, or passes through it into Switch On Disabled.
constexpr std::optional< State >	parseState (std::string_view token)
	Parses a state name as toString spells it. std::nullopt for anything else.
constexpr bool	isCommandableState (State state)
	Whether a master can ask a drive to reach state.
constexpr FsaTransition	nextFsaTransition (State from, State target, bool allowQuickStopOverride)
	One step of the walk from from toward target — the CiA402 state machine as a next-hop table.

Variables
constexpr uint16_t	kCommandMask = 0x008F
	Controlword (0x6040) command-bit mask — the state-machine bits a transition touches.
constexpr StandardOperationMode	kStandardOperationModes []
	Every standard operation mode, with its 0x6502 bit — ETG.6010 §6.8.1, Figure 15.
constexpr int	kFirstManufacturerDriveModeBit = 16
	The first bit of 0x6502 that the profile leaves to the vendor (ETG.6010 Figure 15).

Enumeration Type Documentation

Command

enum mm::node::cia402::Command : uint16_t

Canonical controlword command-bit patterns (the value of the bits in kCommandMask).

Enumerator
kCmdShutdown	→ ReadyToSwitchOn (enable voltage + no quick stop).
kCmdSwitchOn	→ SwitchedOn (also "disable operation" from OperationEnabled).
kCmdEnableOperation	→ OperationEnabled.
kCmdDisableVoltage	→ SwitchOnDisabled.
kCmdQuickStop	→ QuickStopActive.
kCmdFaultReset	Rising edge of bit 7 clears a fault.

FsaAction

enum class mm::node::cia402::FsaAction : uint8_t

strong

What a master should do next, having observed one state and wanting another.

Enumerator
kArrived	Already there; nothing to issue.
kCommand	Issue FsaTransition::command and look again.
kWait	The drive is mid-transition on its own; issue nothing and look again.
kUnreachable	No path exists — only when the target is not a isCommandableState, or when a quick stop must be overridden and the caller did not permit it.

Object

enum mm::node::cia402::Object : uint16_t

Standard CiA402 object dictionary indices used by the drive profile, ordered by index.

Simple VAR objects are addressed at subindex 0; the two-element ARRAY objects (0x607B, 0x607D, 0x6091, 0x6092, 0x6099, 0x60FE) at sub-entries 1..2.

Enumerator
kErrorCode	UNSIGNED16, ro, TxPDO — code of the last drive fault.
kControlword	UNSIGNED16, rw, RxPDO — commands the state machine.
kStatusword	UNSIGNED16, ro, TxPDO — reports the state machine.
kQuickStopOptionCode	INTEGER16, rw — reaction to a quick stop.
kModeOfOperation	INTEGER8, rw, RxPDO — requested operation mode.
kModeOfOperationDisplay	INTEGER8, ro, TxPDO — active operation mode.
kPositionDemandValue	INTEGER32, ro, TxPDO — trajectory generator demand.
kPositionActualValue	INTEGER32, ro, TxPDO — actual position.
kFollowingErrorWindow	UNSIGNED32, rw, RxPDO — max tolerated following error.
kFollowingErrorTimeout	UNSIGNED16, rw, RxPDO — ms outside window before fault.
kPositionWindow	UNSIGNED32, rw, RxPDO — target-reached position window.
kPositionWindowTime	UNSIGNED16, rw, RxPDO — ms in window for target reached.
kVelocityDemandValue	INTEGER32, ro, TxPDO — ramp generator demand.
kVelocityActualValue	INTEGER32, ro, TxPDO — actual velocity.
kVelocityWindow	UNSIGNED16, rw, RxPDO — target-reached velocity window.
kVelocityWindowTime	UNSIGNED16, rw, RxPDO — ms in window for target reached.
kVelocityThreshold	UNSIGNED16, rw, RxPDO — standstill velocity threshold.
kVelocityThresholdTime	UNSIGNED16, rw, RxPDO — ms below threshold = standstill.
kTargetTorque	INTEGER16, rw, RxPDO — CST/PT setpoint (per-mille).
kMaxTorque	UNSIGNED16, rw, RxPDO — torque limit (per-mille).
kMaxCurrent	UNSIGNED16, rw, RxPDO — current limit (per-mille).
kTorqueDemand	INTEGER16, ro, TxPDO — control loop torque demand.
kMotorRatedCurrent	UNSIGNED32, rw — motor rated current (mA).
kMotorRatedTorque	UNSIGNED32, rw — motor rated torque (mNm).
kTorqueActualValue	INTEGER16, ro, TxPDO — actual torque.
kDcLinkCircuitVoltage	UNSIGNED32, ro, TxPDO — DC bus voltage (mV).
kTargetPosition	INTEGER32, rw, RxPDO — CSP/PP setpoint.
kPositionRangeLimit	2×INTEGER32, rw — position wrap range (min/max).
kHomeOffset	INTEGER32, rw, RxPDO — home offset from machine zero.
kSoftwarePositionLimit	2×INTEGER32, rw — software end stops (min/max).
kPolarity	UNSIGNED8, rw, RxPDO — position/velocity polarity bits.
kMaxMotorSpeed	UNSIGNED32, rw, RxPDO — motor speed limit.
kProfileVelocity	UNSIGNED32, rw, RxPDO — PP cruise velocity.
kProfileAcceleration	UNSIGNED32, rw, RxPDO — profile acceleration.
kProfileDeceleration	UNSIGNED32, rw, RxPDO — profile deceleration.
kQuickStopDeceleration	UNSIGNED32, rw, RxPDO — deceleration on quick stop.
kMotionProfileType	INTEGER16, rw, RxPDO — trajectory shape.
kTorqueSlope	UNSIGNED32, rw, RxPDO — PT torque ramp rate.
kTorqueProfileType	INTEGER16, rw, RxPDO — torque trajectory shape.
kGearRatio	2×UNSIGNED32, rw — motor/shaft revolutions.
kFeedConstant	2×UNSIGNED32, rw — feed per shaft revolutions.
kHomingMethod	INTEGER8, rw, RxPDO — homing method number.
kHomingSpeeds	2×UNSIGNED32, rw — switch/zero search speeds.
kHomingAcceleration	UNSIGNED32, rw, RxPDO — homing acceleration.
kSiUnitVelocity	UNSIGNED32, rw — SI unit code of velocity objects.
kVelocityOffset	INTEGER32, rw, RxPDO — CSP/CSV velocity feed-forward.
kTorqueOffset	INTEGER16, rw, RxPDO — torque feed-forward.
kTouchProbeFunction	UNSIGNED16, rw, RxPDO — touch probe arm/config bits.
kTouchProbeStatus	UNSIGNED16, ro, TxPDO — touch probe latch status.
kTouchProbe1PositiveEdge	INTEGER32, ro, TxPDO — position at probe 1 rising edge.
kTouchProbe1NegativeEdge	INTEGER32, ro, TxPDO — position at probe 1 falling edge.
kTouchProbeTimeStamp1PositiveValue	UNSIGNED32, ro, TxPDO — time stamp at probe 1 rising edge.
kTouchProbeTimeStamp1NegativeValue	UNSIGNED32, ro, TxPDO — time stamp at probe 1 falling edge.
kPositioningOptionCode	UNSIGNED16, rw, PDO — PP positioning options.
kFollowingErrorActualValue	INTEGER32, ro, TxPDO — live following error.
kControlEffort	INTEGER32, ro, TxPDO — position loop output.
kPositionDemandInternalValue	INTEGER32, ro, TxPDO — demand in internal increments.
kDigitalInputs	UNSIGNED32, ro, TxPDO — digital input bit field.
kDigitalOutputs	2×UNSIGNED32, rw — physical outputs + enable mask.
kTargetVelocity	INTEGER32, rw, RxPDO — CSV/PV setpoint.
kSupportedDriveModes	UNSIGNED32, ro — capability bit field of supported modes.

OperationMode

enum class mm::node::cia402::OperationMode : int8_t

strong

CiA402 operation modes (object 0x6060 / 0x6061 values).

Every mode the profile defines, whether or not this codebase can drive one: the set is what a device's 0x6502 capability field is read against, so a mode missing here would be a supported mode nothing could name. Mode 5 is absent because the profile reserves it — there is no mode 5. Vendors define their own modes in the negative half, which is a manufacturer vocabulary and therefore lives with the vendor (somanet::OperationMode), not here.

Enumerator
kNoMode	No mode assigned. Always legal; has no 0x6502 bit.
kProfilePosition	PP — trapezoidal point-to-point positioning.
kVelocity	VL — the frequency-converter velocity mode.
kProfileVelocity	PV — profiled velocity.
kProfileTorque	PT — profiled torque.
kHoming	HM — reference/homing run.
kInterpolatedPosition	IP — interpolated position.
kCyclicSyncPosition	CSP — cyclic position (the common SOMANET mode).
kCyclicSyncVelocity	CSV — cyclic velocity.
kCyclicSyncTorque	CST — cyclic torque.
kCyclicSyncTorqueCommutationAngle	CSTCA — cyclic torque with commutation angle.

State

enum class mm::node::cia402::State : uint8_t

strong

States of the CiA402 device control state machine (decoded from the statusword).

Enumerator
kNotReadyToSwitchOn	Drive initialising; no clear state yet.
kSwitchOnDisabled	Powered, holding; the resting state after init.
kReadyToSwitchOn	Shutdown command accepted.
kSwitchedOn	Switch-on command accepted; power stage on, no motion.
kOperationEnabled	Fully enabled; setpoints are followed.
kQuickStopActive	Quick stop in progress.
kFaultReactionActive	A fault is being reacted to (e.g. controlled stop).
kFault	Faulted and stopped; needs a fault reset.

Function Documentation

decodeState()

constexpr State mm::node::cia402::decodeState ( uint16_t  statusword )

constexpr

Decodes the CiA402 state machine state from a statusword (0x6041) value.

Pure function of the statusword's defined bits; uses the ETG.6010 mask/match table. An unrecognised pattern maps to State::kNotReadyToSwitchOn (the "no clear state" bucket).

isCommandableState()

constexpr bool mm::node::cia402::isCommandableState ( State  state )

constexpr

Whether a master can ask a drive to reach state.

Three of the eight cannot be asked for, and each for its own reason: kNotReadyToSwitchOn and kFaultReactionActive are passed through automatically by the drive and have no command that enters them, and kFault is entered by something going wrong rather than by being requested.

isFaulted()

constexpr bool mm::node::cia402::isFaulted ( uint16_t  statusword )

constexpr

Whether the statusword's fault bit (bit 3) is set, gated to the faulted states.

nextFsaTransition()

constexpr FsaTransition mm::node::cia402::nextFsaTransition ( State  from, State  target, bool  allowQuickStopOverride  )

constexpr

One step of the walk from from toward target — the CiA402 state machine as a next-hop table.

A table rather than a search, because the graph is eight states and fits on a page, and because the interesting part is not the pathfinding but the handful of states that behave unlike the rest. Iterating it is what produces a multi-hop walk: each call answers only "what now", so a caller re-reads the drive between steps and never assumes a command took effect.

The graph is ETG.6010 §5.1 Figure 2, checked against the SOMANET firmware's own get_next_state. Four rows are worth knowing:

• kFault — every target begins with a fault reset, which reaches kSwitchOnDisabled (transition 15) and only if the cause is gone; the firmware refuses while the error is still reported, so a caller must not read a reset as progress.
• kFaultReactionActive and kNotReadyToSwitchOn — no command enters or leaves them; the drive moves on by itself (transitions 14 and 1), so the answer is to wait.
• kQuickStopActive — leaving downward is kCmdDisableVoltage (transition 12), and leaving upward to kOperationEnabled is transition 16, which IEC 61800-7-201 calls not recommended and this firmware implements as "forced". It is offered only when allowQuickStopOverride, so that overriding a deliberate stop is a decision a caller makes rather than a side effect of asking to be enabled.
• **kReadyToSwitchOn → kSwitchedOn** uses kCmdSwitchOn rather than the combined kCmdEnableOperation that ETG.6010 permits: the firmware answers both by moving one state, so the plain command reaches the same place while leaving the intermediate state observable.

Parameters

from	The state just read from the drive.
target	Where the caller wants it. See isCommandableState.
allowQuickStopOverride	Whether transition 16 may be used.

parseState()

constexpr std::optional< State > mm::node::cia402::parseState ( std::string_view  token )

constexpr

Parses a state name as toString spells it. std::nullopt for anything else.

quickStopHolds()

constexpr bool mm::node::cia402::quickStopHolds ( int16_t  optionCode )

constexpr

Whether a quick stop configured with optionCode leaves the drive in Quick Stop Active, or passes through it into Switch On Disabled.

The distinction is why targeting Quick Stop Active is not simply "issue quick stop and wait". The profile's codes 0-4 all end the quick stop in Switch On Disabled — 0 disables the drive outright and 1-4 ramp down first — so on a drive configured that way Quick Stop Active is a state it passes through, sometimes for microseconds. Codes 5-8 ramp down the same ways but stay there. Only that 5-8 band holds, which is what this answers.

A vendor may define values above 8, and one that does need not hold. SOMANET implements a sparse subset — 0, 2, 6 and 9 — of which 9 is its own: "transit into active short circuit and then into switch on disabled", so it passes through like 0 and 2 while shorting the motor phases on the way. It is outside the holding band and therefore already answered correctly, but the reason is that the band is closed, not that unknown values default to passing through.

Values this function cannot place are treated as passing through for a separate reason: a caller told the drive landed somewhere else recovers, where one waiting for a state that never comes only times out.

toOperationMode()

constexpr std::optional< OperationMode > mm::node::cia402::toOperationMode ( int  value )

constexpr

Maps a raw mode value (as written to 0x6060 / read from 0x6061) to a known operation mode. Rejects values outside the standard set so an API boundary can 400 an unknown mode.

Returns

The mode, or std::nullopt if value is not a recognised operation mode.

toString() [1/2]

constexpr std::string_view mm::node::cia402::toString ( OperationMode  mode )

constexpr

Human-readable name of an operation mode (for logging / JSON). Never nullptr.

toString() [2/2]

constexpr std::string_view mm::node::cia402::toString ( State  state )

constexpr

Human-readable name of a state (for logging / JSON). Never returns nullptr.

Variable Documentation

kCommandMask

constexpr uint16_t mm::node::cia402::kCommandMask = 0x008F

constexpr

Controlword (0x6040) command-bit mask — the state-machine bits a transition touches.

Bits 0 (switch on), 1 (enable voltage), 2 (quick stop), 3 (enable operation), 7 (fault reset). All other bits — mode-specific 4..6, halt 8, and manufacturer 9.. — are preserved across a transition by a read-modify-write masked with this value.

kFirstManufacturerDriveModeBit

constexpr int mm::node::cia402::kFirstManufacturerDriveModeBit = 16

inlineconstexpr

The first bit of 0x6502 that the profile leaves to the vendor (ETG.6010 Figure 15).

kStandardOperationModes

constexpr StandardOperationMode mm::node::cia402::kStandardOperationModes[]

inlineconstexpr

Initial value:

= {
    {OperationMode::kNoMode, -1, "", "No mode selected"},
    {OperationMode::kProfilePosition, 0, "pp", "Profile position mode"},
    {OperationMode::kVelocity, 1, "vl", "Velocity mode (frequency converter)"},
    {OperationMode::kProfileVelocity, 2, "pv", "Profile velocity mode"},
    {OperationMode::kProfileTorque, 3, "tq", "Profile torque mode"},
    {OperationMode::kHoming, 5, "hm", "Homing mode"},
    {OperationMode::kInterpolatedPosition, 6, "ip", "Interpolated position mode"},
    {OperationMode::kCyclicSyncPosition, 7, "csp", "Cyclic synchronous position mode"},
    {OperationMode::kCyclicSyncVelocity, 8, "csv", "Cyclic synchronous velocity mode"},
    {OperationMode::kCyclicSyncTorque, 9, "cst", "Cyclic synchronous torque mode"},
    {OperationMode::kCyclicSyncTorqueCommutationAngle, 10, "cstca",
     "Cyclic synchronous torque mode with commutation angle"},
}

Every standard operation mode, with its 0x6502 bit — ETG.6010 §6.8.1, Figure 15.

The bit is listed rather than computed, though bit = value - 1 holds for all ten of them. The arithmetic is a coincidence of how the profile happened to allocate the field, not a rule it states, and a future mode that broke it would break silently. Reserved positions (bit 4, and 11-15) are simply absent, as is the manufacturer half (bits 16-31), which no standard table can name.