Trait AxisView 

pub trait AxisView {
    // Required methods
    fn control_word(&self) -> u16;
    fn set_control_word(&mut self, word: u16);
    fn set_target_position(&mut self, pos: i32);
    fn set_profile_velocity(&mut self, vel: u32);
    fn set_profile_acceleration(&mut self, accel: u32);
    fn set_profile_deceleration(&mut self, decel: u32);
    fn set_modes_of_operation(&mut self, mode: i8);
    fn modes_of_operation_display(&self) -> i8;
    fn status_word(&self) -> u16;
    fn position_actual(&self) -> i32;
    fn velocity_actual(&self) -> i32;

    // Provided methods
    fn error_code(&self) -> u16 { ... }
    fn positive_limit_active(&self) -> bool { ... }
    fn negative_limit_active(&self) -> bool { ... }
    fn home_sensor_active(&self) -> bool { ... }
    fn dynamic_max_position_limit(&self) -> Option<f64> { ... }
    fn dynamic_min_position_limit(&self) -> Option<f64> { ... }
}

Generic hardware interface for a CiA 402 servo drive.

Maps raw PDO fields. The Axis struct handles all CiA 402 protocol logic (state machine, PP handshake, homing) on top of this.

Implementing

Implementors just map their struct’s PDO fields — no CiA 402 protocol knowledge is needed:

impl AxisView for MyDriveView<'_> {
    fn control_word(&self) -> u16 { *self.control_word }
    fn set_control_word(&mut self, w: u16) { *self.control_word = w; }
    fn status_word(&self) -> u16 { *self.status_word }
    fn set_target_position(&mut self, pos: i32) { *self.target_position = pos; }
    // ... etc
}

Required Methods

fn control_word(&self) -> u16

Read the current control word.

fn set_control_word(&mut self, word: u16)

Write the control word.

fn set_target_position(&mut self, pos: i32)

Set the target position in encoder counts.

fn set_profile_velocity(&mut self, vel: u32)

Set the profile velocity in counts/s.

fn set_profile_acceleration(&mut self, accel: u32)

Set the profile acceleration in counts/s².

fn set_profile_deceleration(&mut self, decel: u32)

Set the profile deceleration in counts/s².

fn set_modes_of_operation(&mut self, mode: i8)

Write the modes of operation register (0x6060).

fn modes_of_operation_display(&self) -> i8

Read the modes of operation display (0x6061).

fn status_word(&self) -> u16

Read the status word.

fn position_actual(&self) -> i32

Read the actual position in encoder counts.

fn velocity_actual(&self) -> i32

Read the actual velocity in counts/s.

Provided Methods

fn error_code(&self) -> u16

Read the drive error code. Returns 0 if not mapped.

fn positive_limit_active(&self) -> bool

True when the positive-direction hardware limit switch is active.

Implement this to wire a physical limit switch input from your global memory / PDO mapping. If not implemented, returns false (no limit switch).

fn negative_limit_active(&self) -> bool

True when the negative-direction hardware limit switch is active.

fn home_sensor_active(&self) -> bool

True when the home reference sensor is active.

fn dynamic_max_position_limit(&self) -> Option<f64>

Current maximum software position limit in user units, or None if no dynamic limit is configured. When Some, the axis rejects moves whose target exceeds this value, and quick-stops if the actual position passes it while moving in the positive direction.

This is combined with the static AxisConfig max limit using the most-restrictive value.

fn dynamic_min_position_limit(&self) -> Option<f64>

Current minimum software position limit in user units, or None if no dynamic limit is configured. See dynamic_max_position_limit.

Implementors

impl AxisView for TeknicPpView<'_>

impl AxisView for Cia402PpSnapshot