mm::node::cia402 Namespace Reference

Enumerations
enum	Object : uint16_t {   kControlword = 0x6040 , kStatusword = 0x6041 , kModeOfOperation = 0x6060 , kModeOfOperationDisplay = 0x6061 ,   kTargetPosition = 0x607A , kTargetVelocity = 0x60FF , kTargetTorque = 0x6071 , kPositionActualValue = 0x6064 ,   kVelocityActualValue = 0x606C , kTorqueActualValue = 0x6077 }
	Standard CiA402 object dictionary indices used by the drive profile. More...
enum class	OperationMode : int8_t {   kNoMode = 0 , kProfilePosition = 1 , kProfileVelocity = 3 , kProfileTorque = 4 ,   kHoming = 6 , kCyclicSyncPosition = 8 , kCyclicSyncVelocity = 9 , kCyclicSyncTorque = 10 }
	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...

Functions
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.

Variables
constexpr uint16_t	kCommandMask = 0x008F
	Controlword (0x6040) command-bit mask — the state-machine bits a transition touches.

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.

Object

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

Standard CiA402 object dictionary indices used by the drive profile.

Subindex is always 0 for these (they are simple objects), so callers pass 0.

Enumerator
kControlword	UNSIGNED16, RxPDO — commands the state machine.
kStatusword	UNSIGNED16, TxPDO — reports the state machine.
kModeOfOperation	INTEGER8, RxPDO — requested operation mode.
kModeOfOperationDisplay	INTEGER8, TxPDO — active operation mode.
kTargetPosition	INTEGER32, RxPDO — CSP/PP setpoint.
kTargetVelocity	INTEGER32, RxPDO — CSV/PV setpoint.
kTargetTorque	INTEGER16, RxPDO — CST/PT setpoint (per-mille of rated).
kPositionActualValue	INTEGER32, TxPDO — actual position.
kVelocityActualValue	INTEGER32, TxPDO — actual velocity.
kTorqueActualValue	INTEGER16, TxPDO — actual torque.

OperationMode

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

strong

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

Enumerator
kNoMode	No mode assigned.
kProfilePosition	PP — trapezoidal point-to-point positioning.
kProfileVelocity	PV — profiled velocity.
kProfileTorque	PT — profiled torque.
kHoming	HM — reference/homing run.
kCyclicSyncPosition	CSP — interpolated cyclic position (the common SOMANET mode).
kCyclicSyncVelocity	CSV — interpolated cyclic velocity.
kCyclicSyncTorque	CST — interpolated cyclic torque.

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).

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.

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.