Process Data Object written from master to slave (RxPDO). More...

#include <CiA402/EthercatManager.h>

Public Attributes
uint16_t	Controlword
	0x6040: Controlword

int8_t	OpMode
	0x6060: Modes of operation

int16_t	TargetTorque
	0x6071: Target torque

int32_t	TargetPosition
	0x607A: Target position

int32_t	TargetVelocity
	0x60FF: Target velocity

Detailed Description

Process Data Object written from master to slave (RxPDO).

This struct mirrors the layout of the outputs sent cyclically to each drive. The exact mapping is configured at startup (see configurePDOMapping), but fields correspond to standard CiA-402 objects:

Controlword (0x6040)
OpMode (0x6060)
TargetTorque (0x6071)
TargetPosition (0x607A)
TargetVelocity (0x60FF)

Definition at line 37 of file EthercatManager.h.

Member Data Documentation

◆ Controlword

uint16_t CiA402::RxPDO::Controlword

0x6040: Controlword

Definition at line 39 of file EthercatManager.h.

◆ OpMode

int8_t CiA402::RxPDO::OpMode

0x6060: Modes of operation

Definition at line 40 of file EthercatManager.h.

◆ TargetPosition

int32_t CiA402::RxPDO::TargetPosition

0x607A: Target position

Definition at line 42 of file EthercatManager.h.

◆ TargetTorque

int16_t CiA402::RxPDO::TargetTorque

0x6071: Target torque

Definition at line 41 of file EthercatManager.h.

◆ TargetVelocity

int32_t CiA402::RxPDO::TargetVelocity

0x60FF: Target velocity

Definition at line 43 of file EthercatManager.h.

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

src/CiA402/include/CiA402/EthercatManager.h