Struct SYN_CIA402_Axis¶

CiA 402 Axis Instance.

#include <syn_cia402.h>

Public Attributes¶

Type	Name
int32_t	actual_position
int16_t	actual_torque
int32_t	actual_velocity
uint16_t	controlword
int64_t	current_pos_fxp
float	current_speed
int32_t	current_torque_fxp
int64_t	current_vel_fxp
uint16_t	error_code
uint32_t	following_err_win
uint32_t	homing_accel
bool	homing_attained
bool	homing_error
bool	homing_in_progress
int8_t	homing_method
uint32_t	homing_speed_fast
uint32_t	homing_speed_slow
uint16_t	max_torque
int8_t	mode_of_operation
int8_t	mode_of_operation_disp
int32_t	position_demand
uint32_t	position_window
uint16_t	prev_controlword
uint32_t	profile_acc
uint32_t	profile_dec
uint32_t	profile_vel
uint32_t	quick_stop_dec
int16_t	quick_stop_option
bool	setpoint_ack
SYN_CIA402_State	state
uint16_t	statusword
int32_t	sw_limit_max
int32_t	sw_limit_min
bool	sw_limits_enabled
int32_t	target_position
bool	target_reached
int16_t	target_torque
int32_t	target_velocity
uint32_t	torque_slope

Public Attributes Documentation¶

variable actual_position¶

int32_t SYN_CIA402_Axis::actual_position;

0x6064 Position Actual Value

variable actual_torque¶

int16_t SYN_CIA402_Axis::actual_torque;

0x6077 Torque Actual Value

variable actual_velocity¶

int32_t SYN_CIA402_Axis::actual_velocity;

0x606C Velocity Actual Value

variable controlword¶

uint16_t SYN_CIA402_Axis::controlword;

Active Controlword (0x6040)

variable current_pos_fxp¶

int64_t SYN_CIA402_Axis::current_pos_fxp;

Internal high-precision position (Q32.32)

variable current_speed¶

float SYN_CIA402_Axis::current_speed;

Current internal floating speed for tests

variable current_torque_fxp¶

int32_t SYN_CIA402_Axis::current_torque_fxp;

Internal high-precision torque (Q16.16)

variable current_vel_fxp¶

int64_t SYN_CIA402_Axis::current_vel_fxp;

Internal high-precision velocity (Q32.32)

variable error_code¶

uint16_t SYN_CIA402_Axis::error_code;

Last triggered error code

variable following_err_win¶

uint32_t SYN_CIA402_Axis::following_err_win;

0x6065 Following Error Window

variable homing_accel¶

uint32_t SYN_CIA402_Axis::homing_accel;

0x609B Homing Acceleration

variable homing_attained¶

bool SYN_CIA402_Axis::homing_attained;

Homing completed successfully

variable homing_error¶

bool SYN_CIA402_Axis::homing_error;

Homing fault occurred

variable homing_in_progress¶

bool SYN_CIA402_Axis::homing_in_progress;

Active homing sequence

variable homing_method¶

int8_t SYN_CIA402_Axis::homing_method;

0x6098 Homing Method

variable homing_speed_fast¶

uint32_t SYN_CIA402_Axis::homing_speed_fast;

0x6099:1 Homing Speed Fast

variable homing_speed_slow¶

uint32_t SYN_CIA402_Axis::homing_speed_slow;

0x6099:2 Homing Speed Slow

variable max_torque¶

uint16_t SYN_CIA402_Axis::max_torque;

0x6072 Max Torque

variable mode_of_operation¶

int8_t SYN_CIA402_Axis::mode_of_operation;

Mode of operation requested (0x6060)

variable mode_of_operation_disp¶

int8_t SYN_CIA402_Axis::mode_of_operation_disp;

Mode of operation display (0x6061)

variable position_demand¶

int32_t SYN_CIA402_Axis::position_demand;

0x6062 Position Demand Value

variable position_window¶

uint32_t SYN_CIA402_Axis::position_window;

0x6067 Position Window

variable prev_controlword¶

uint16_t SYN_CIA402_Axis::prev_controlword;

Previous Controlword for edge detection

variable profile_acc¶

uint32_t SYN_CIA402_Axis::profile_acc;

0x6083 Profile Acceleration

variable profile_dec¶

uint32_t SYN_CIA402_Axis::profile_dec;

0x6084 Profile Deceleration

variable profile_vel¶

uint32_t SYN_CIA402_Axis::profile_vel;

0x6081 Profile Velocity

variable quick_stop_dec¶

uint32_t SYN_CIA402_Axis::quick_stop_dec;

0x6085 Quick Stop Deceleration

variable quick_stop_option¶

int16_t SYN_CIA402_Axis::quick_stop_option;

Quick stop option code (0x605A)

variable setpoint_ack¶

bool SYN_CIA402_Axis::setpoint_ack;

Setpoint acknowledge handshake flag

variable state¶

SYN_CIA402_State SYN_CIA402_Axis::state;

Current FSM state

variable statusword¶

uint16_t SYN_CIA402_Axis::statusword;

Active Statusword (0x6041)

variable sw_limit_max¶

int32_t SYN_CIA402_Axis::sw_limit_max;

0x607E Software Limit Max

variable sw_limit_min¶

int32_t SYN_CIA402_Axis::sw_limit_min;

0x607D Software Limit Min

variable sw_limits_enabled¶

bool SYN_CIA402_Axis::sw_limits_enabled;

Software limit check active

variable target_position¶

int32_t SYN_CIA402_Axis::target_position;

0x607A Target Position

variable target_reached¶

bool SYN_CIA402_Axis::target_reached;

Target reached flag

variable target_torque¶

int16_t SYN_CIA402_Axis::target_torque;

0x6071 Target Torque

variable target_velocity¶

int32_t SYN_CIA402_Axis::target_velocity;

0x60FF Target Velocity

variable torque_slope¶

uint32_t SYN_CIA402_Axis::torque_slope;

0x6087 Torque Slope

The documentation for this class was generated from the following file src/syntropic/proto/syn_cia402.h