Struct SYN_CIA402_Config¶
CiA 402 axis configuration parameters.
#include <syn_cia402.h>
Public Attributes¶
| Type | Name |
|---|---|
| uint32_t | following_err_window |
| uint32_t | max_profile_velocity |
| uint16_t | max_torque |
| uint32_t | position_window |
| uint32_t | profile_acceleration |
| uint32_t | profile_deceleration |
| uint32_t | quick_stop_deceleration |
| int32_t | sw_limit_max |
| int32_t | sw_limit_min |
| bool | sw_limits_enabled |
| uint32_t | torque_slope |
Public Attributes Documentation¶
variable following_err_window¶
Following error threshold (0=disabled)
variable max_profile_velocity¶
Max / default profile velocity (counts/s)
variable max_torque¶
Max torque limit (0.1% rated)
variable position_window¶
Target reached deadband (counts)
variable profile_acceleration¶
Default profile acceleration (counts/s^2)
variable profile_deceleration¶
Default profile deceleration (counts/s^2)
variable quick_stop_deceleration¶
Quick stop deceleration rate (counts/s^2)
variable sw_limit_max¶
Software position maximum limit (counts)
variable sw_limit_min¶
Software position minimum limit (counts)
variable sw_limits_enabled¶
Software limit check active
variable torque_slope¶
Torque ramp rate (0.1%/s)
The documentation for this class was generated from the following file src/syntropic/proto/syn_cia402.h