mm::node::Cia402Status Struct Reference

A snapshot of a CiA402 drive's control state — the values a control UI needs to show at a glance: the decoded state machine state, the raw status/control words, the active operation mode (display object 0x6061), and the setpoint currently commanded for that mode. Read in one shot by Cia402Drive::readStatus. More...

#include <cia402_drive.h>

Collaboration diagram for mm::node::Cia402Status:

Public Attributes
cia402::State	state {}
	Decoded from the statusword (0x6041).
uint16_t	statusword = 0
	Raw statusword (0x6041).
uint16_t	controlword = 0
	Last-commanded controlword (0x6040).
cia402::OperationMode	modeOfOperationDisplay {}
int32_t	target = 0

Detailed Description

A snapshot of a CiA402 drive's control state — the values a control UI needs to show at a glance: the decoded state machine state, the raw status/control words, the active operation mode (display object 0x6061), and the setpoint currently commanded for that mode. Read in one shot by Cia402Drive::readStatus.

Member Data Documentation

controlword

uint16_t mm::node::Cia402Status::controlword = 0

Last-commanded controlword (0x6040).

modeOfOperationDisplay

cia402::OperationMode mm::node::Cia402Status::modeOfOperationDisplay {}

Active operation mode (0x6061).

state

cia402::State mm::node::Cia402Status::state {}

Decoded from the statusword (0x6041).

statusword

uint16_t mm::node::Cia402Status::statusword = 0

Raw statusword (0x6041).

target

int32_t mm::node::Cia402Status::target = 0

The setpoint object for the active mode — target position 0x607A (PP/CSP), velocity 0x60FF (PV/CSV), or torque 0x6071 (PT/CST), widened to int32. 0 only when the active mode has no linear setpoint (NoMode / Homing). Lets a UI seed its target input from the drive.

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

• libs/node/cia402_drive.h