CiA402 Namespace Reference

Classes
class	CheckEncoderCalibration
	Encoder calibration checker: compare live encoder readings against a reference TOML file. More...
class	EthercatManager
	Minimal EtherCAT master built on SOEM for CiA-402 devices. More...
struct	FieldInfo
	Metadata describing a field inside the raw TxPDO image. More...
struct	RxPDO
	Process Data Object written from master to slave (RxPDO). More...
class	StateMachine
class	StoreHome37
	Calibration utility: home all CiA-402 drives on the bus and persist the result to flash. More...
class	TxView
	Lightweight view over a slave's TxPDO image. More...

Enumerations
enum class	State : uint8_t {   NotReadyToSwitchOn = 0 , SwitchOnDisabled = 1 , ReadyToSwitchOn = 2 , SwitchedOn = 3 ,   OperationEnabled = 4 , QuickStopActive = 5 , FaultReaction = 6 , Fault = 7 ,   Unknown = 8 }
enum class	TxField : uint8_t {   Statusword , OpModeDisplay , Position6064 , Velocity606C ,   Torque6077 , PositionError6065 , Timestamp20F0 , STO_6621_01 ,   SBC_6621_02 , Enc1Pos2111_02 , Enc1Vel2111_03 , Enc2Pos2113_02 ,   Enc2Vel2113_03 , TemperatureDrive }
	Identifiers for fields read from a slave (TxPDO → master). More...

Functions
static constexpr State	sw_to_state (uint16_t sw)
static constexpr std::string_view	state_to_string (State s)
std::tm	getLocalTime (const std::time_t &t)

Variables
Encoder SDO indices
static constexpr uint16_t	IDX_ENC1_CONFIG = 0x2110
	:03 = resolution (counts/rev)
static constexpr uint16_t	IDX_ENC1_DATA = 0x2111
	:01 = raw position, :02 = adjusted position
static constexpr uint16_t	IDX_ENC2_CONFIG = 0x2112
	:03 = resolution (counts/rev)
static constexpr uint16_t	IDX_ENC2_DATA = 0x2113
	:01 = raw position, :02 = adjusted position

Enumeration Type Documentation

State

enum class CiA402::State : uint8_t

strong

Enumerator
NotReadyToSwitchOn
SwitchOnDisabled
ReadyToSwitchOn
SwitchedOn
OperationEnabled
QuickStopActive
FaultReaction
Fault
Unknown

Definition at line 35 of file CiA402StateMachine.h.

TxField

enum class CiA402::TxField : uint8_t

strong

Identifiers for fields read from a slave (TxPDO → master).

Each value corresponds to a standard or vendor-specific object/subindex that can be mapped into the TxPDO image and accessed via TxView.

Enumerator
Statusword	0x6041: Statusword
OpModeDisplay	0x6061: Modes of operation display
Position6064	0x6064: Position actual value
Velocity606C	0x606C: Velocity actual value
Torque6077	0x6077: Torque actual value
PositionError6065	0x6065: Position demand value / error
Timestamp20F0	0x20F0: Timestamp (if supported)
STO_6621_01	0x6621:01 Safe Torque Off status (exposed via PDO)
SBC_6621_02	0x6621:02 Safe Brake Control status (exposed via PDO)
Enc1Pos2111_02	0x2111:02 Vendor enc1 position
Enc1Vel2111_03	0x2111:03 Vendor enc1 velocity
Enc2Pos2113_02	0x2113:02 Vendor enc2 position
Enc2Vel2113_03	0x2113:03 Vendor enc2 velocity
TemperatureDrive	0x2031:01 Temperature (if supported)

Definition at line 53 of file EthercatManager.h.

Function Documentation

getLocalTime()

std::tm CiA402::getLocalTime ( const std::time_t & t )

inline

Definition at line 12 of file TimeUtils.h.

state_to_string()

static constexpr std::string_view CiA402::state_to_string ( State s )

inlinestaticconstexpr

Definition at line 78 of file CiA402StateMachine.h.

sw_to_state()

static constexpr State CiA402::sw_to_state ( uint16_t sw )

inlinestaticconstexpr

Convert a raw status-word to the canonical CiA-402 state.

Only the relevant bits (0,1,2,3,4,5,6) are masked, exactly as the spec does. Patterns are taken from IEC 61800-7-204, table 13.

Definition at line 53 of file CiA402StateMachine.h.

Variable Documentation

IDX_ENC1_CONFIG

uint16_t CiA402::IDX_ENC1_CONFIG = 0x2110

staticconstexpr

:03 = resolution (counts/rev)

Definition at line 14 of file EncoderSdoIndices.h.

IDX_ENC1_DATA

uint16_t CiA402::IDX_ENC1_DATA = 0x2111

staticconstexpr

:01 = raw position, :02 = adjusted position

Definition at line 15 of file EncoderSdoIndices.h.

IDX_ENC2_CONFIG

uint16_t CiA402::IDX_ENC2_CONFIG = 0x2112

staticconstexpr

:03 = resolution (counts/rev)

Definition at line 16 of file EncoderSdoIndices.h.

IDX_ENC2_DATA

uint16_t CiA402::IDX_ENC2_DATA = 0x2113

staticconstexpr

:01 = raw position, :02 = adjusted position

Definition at line 17 of file EncoderSdoIndices.h.