Detailed Description

CiA 402 parameters common to all operation modes

The structure holds object dictionary values that are independent of the selected operation mode: the PDS FSA controlword/statusword, option codes, mode selection, and all profile position and general velocity/acceleration limit objects. It is initialised by Cos402_ParmInit().

Collaboration diagram for Cos402_Common_s:

Data Fields
int16_t	swIdx6007_CodeAbortConnect
int16_t	swIdx605A_CodeQuickStop
int16_t	swIdx605B_CodeShutdown
int16_t	swIdx605C_CodeDisable
int16_t	swIdx605D_CodeHalt
int16_t	swIdx605E_CodeFault
uint16_t	uwIdx6040_Control
uint16_t	uwIdx6041_Status
int8_t	sbIdx6060_ModeOperation
int8_t	sbIdx6061_ModeOperationDisplay
int32_t	slIdx6064_PositionActual
int32_t	slIdx607A_TargetPos
int32_t	slIdx607B_PosRangeMin
int32_t	slIdx607B_PosRangeMax
int32_t	slIdx607D_PosSoftMin
int32_t	slIdx607D_PosSoftMax
uint8_t	ubIdx607E_Polarity
uint32_t	ulIdx607F_MaxVelocity
uint32_t	ulIdx6080_MaxMotorSpeed
uint32_t	ulIdx6081_ProfileVelocity
uint32_t	ulIdx6082_EndVelocity
uint32_t	ulIdx6083_ProfileAcceleration
uint32_t	ulIdx6084_ProfileDeceleration
uint32_t	ulIdx6085_QuickStopDeceleration
int16_t	swIdx6086_MotionProfile
uint32_t	ulIdx60C5_MaxAcceleration
uint32_t	ulIdx60C6_MaxDeceleration
uint32_t	ulIdx6502_DriveModes

Field Documentation

◆ sbIdx6060_ModeOperation

int8_t Cos402_Common_s::sbIdx6060_ModeOperation

6060h - Modes of operation

◆ sbIdx6061_ModeOperationDisplay

int8_t Cos402_Common_s::sbIdx6061_ModeOperationDisplay

6061h - Modes of operation display

◆ slIdx6064_PositionActual

int32_t Cos402_Common_s::slIdx6064_PositionActual

6064h - Position actual value

◆ slIdx607A_TargetPos

int32_t Cos402_Common_s::slIdx607A_TargetPos

607Ah - Target position

◆ slIdx607B_PosRangeMax

int32_t Cos402_Common_s::slIdx607B_PosRangeMax

607Bh:02 - Position range max limit

◆ slIdx607B_PosRangeMin

int32_t Cos402_Common_s::slIdx607B_PosRangeMin

607Bh:01 - Position range min limit

◆ slIdx607D_PosSoftMax

int32_t Cos402_Common_s::slIdx607D_PosSoftMax

607Dh:02 - Software position max limit

◆ slIdx607D_PosSoftMin

int32_t Cos402_Common_s::slIdx607D_PosSoftMin

607Dh:01 - Software position min limit

◆ swIdx6007_CodeAbortConnect

int16_t Cos402_Common_s::swIdx6007_CodeAbortConnect

6007h - Abort connect option code

◆ swIdx605A_CodeQuickStop

int16_t Cos402_Common_s::swIdx605A_CodeQuickStop

605Ah - Quick stop option code

◆ swIdx605B_CodeShutdown

int16_t Cos402_Common_s::swIdx605B_CodeShutdown

605Bh - Shutdown option code

◆ swIdx605C_CodeDisable

int16_t Cos402_Common_s::swIdx605C_CodeDisable

605Ch - Disable operation option code

◆ swIdx605D_CodeHalt

int16_t Cos402_Common_s::swIdx605D_CodeHalt

605Dh - Halt option code

◆ swIdx605E_CodeFault

int16_t Cos402_Common_s::swIdx605E_CodeFault

605Eh - Fault reaction option code

◆ swIdx6086_MotionProfile

int16_t Cos402_Common_s::swIdx6086_MotionProfile

6086h - Motion profile type

◆ ubIdx607E_Polarity

uint8_t Cos402_Common_s::ubIdx607E_Polarity

607Eh - Polarity

◆ ulIdx607F_MaxVelocity

uint32_t Cos402_Common_s::ulIdx607F_MaxVelocity

607Fh - Max profile velocity

◆ ulIdx6080_MaxMotorSpeed

uint32_t Cos402_Common_s::ulIdx6080_MaxMotorSpeed

6080h - Max motor speed in rpm

◆ ulIdx6081_ProfileVelocity

uint32_t Cos402_Common_s::ulIdx6081_ProfileVelocity

6081h - Profile velocity

◆ ulIdx6082_EndVelocity

uint32_t Cos402_Common_s::ulIdx6082_EndVelocity

6082h - End velocity

◆ ulIdx6083_ProfileAcceleration

uint32_t Cos402_Common_s::ulIdx6083_ProfileAcceleration

6083h - Profile acceleration

◆ ulIdx6084_ProfileDeceleration

uint32_t Cos402_Common_s::ulIdx6084_ProfileDeceleration

6084h - Profile deceleration

◆ ulIdx6085_QuickStopDeceleration

uint32_t Cos402_Common_s::ulIdx6085_QuickStopDeceleration

6085h - Quick stop deceleration

◆ ulIdx60C5_MaxAcceleration

uint32_t Cos402_Common_s::ulIdx60C5_MaxAcceleration

60C5h - Max acceleration

◆ ulIdx60C6_MaxDeceleration

uint32_t Cos402_Common_s::ulIdx60C6_MaxDeceleration

60C6h - Max deceleration

◆ ulIdx6502_DriveModes

uint32_t Cos402_Common_s::ulIdx6502_DriveModes

6502h - Supported drive modes

◆ uwIdx6040_Control

uint16_t Cos402_Common_s::uwIdx6040_Control

6040h - Controlword

◆ uwIdx6041_Status

uint16_t Cos402_Common_s::uwIdx6041_Status

6041h - Statusword