Struct SYN_CiA402Drive

ClassList > SYN_CiA402Drive

CiA 402 Drive Handle.

• #include <syn_cia402.h>

Public Attributes

Type	Name
int32_t	actual_position
int16_t	actual_torque
int32_t	actual_velocity
SYN_CiA402Config	cfg
uint16_t	controlword
float	current_pos
float	current_speed
uint16_t	error_code
int8_t	mode_display
int8_t	mode_of_operation
uint16_t	prev_controlword
SYN_SCurve	scurve
bool	setpoint_ack
SYN_CiA402State	state
uint16_t	statusword
int32_t	target_position
bool	target_reached
int16_t	target_torque
int32_t	target_velocity

Public Attributes Documentation

variable actual_position

int32_t SYN_CiA402Drive::actual_position;

Index 0x6064 Position Actual Value

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variable actual_torque

int16_t SYN_CiA402Drive::actual_torque;

Index 0x6077 Torque Actual Value

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variable actual_velocity

int32_t SYN_CiA402Drive::actual_velocity;

Index 0x606C Velocity Actual Value

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variable cfg

SYN_CiA402Config SYN_CiA402Drive::cfg;

Drive configuration parameters

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variable controlword

uint16_t SYN_CiA402Drive::controlword;

Index 0x6040 Controlword

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variable current_pos

float SYN_CiA402Drive::current_pos;

Current internal continuous position

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variable current_speed

float SYN_CiA402Drive::current_speed;

Current internal continuous speed

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variable error_code

uint16_t SYN_CiA402Drive::error_code;

Index 0x603F Error Code

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variable mode_display

int8_t SYN_CiA402Drive::mode_display;

Index 0x6061 Modes of Operation Display

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variable mode_of_operation

int8_t SYN_CiA402Drive::mode_of_operation;

Index 0x6060 Modes of Operation

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variable prev_controlword

uint16_t SYN_CiA402Drive::prev_controlword;

Previous controlword for edge detection

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variable scurve

SYN_SCurve SYN_CiA402Drive::scurve;

Internal S-Curve trajectory generator for PP mode

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variable setpoint_ack

bool SYN_CiA402Drive::setpoint_ack;

Setpoint acknowledge bit indicator

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variable state

SYN_CiA402State SYN_CiA402Drive::state;

Current drive state machine state

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variable statusword

uint16_t SYN_CiA402Drive::statusword;

Index 0x6041 Statusword

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variable target_position

int32_t SYN_CiA402Drive::target_position;

Index 0x607A Target Position

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variable target_reached

bool SYN_CiA402Drive::target_reached;

Target reached flag

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variable target_torque

int16_t SYN_CiA402Drive::target_torque;

Index 0x6071 Target Torque

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variable target_velocity

int32_t SYN_CiA402Drive::target_velocity;

Index 0x60FF Target Velocity

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