Struct AxisConfig 

pub struct AxisConfig {

    pub invert_direction: bool,
    pub jog_speed: f64,
    pub jog_accel: f64,
    pub jog_decel: f64,
    pub home_position: f64,
    pub homing_speed: f64,
    pub homing_accel: f64,
    pub homing_decel: f64,
    pub soft_home_method: i8,
    pub halt_blocks_setpoint_ack: bool,
    pub change_set_immediately_blocks_ack: bool,
    pub operation_timeout_secs: f64,
    pub homing_timeout_secs: f64,
    pub enable_max_position_limit: bool,
    pub enable_min_position_limit: bool,
    pub max_position_limit: f64,
    pub min_position_limit: f64,
    /* private fields */
}

Configuration for a single motion axis.

Stores encoder resolution, user-unit scaling, jog defaults, and position limits. Used by Axis internally and also available for direct use (e.g. logging, HMI display).

Examples

use autocore_std::motion::AxisConfig;

// ClearPath with 12,800 counts/rev, user units = degrees
let cfg = AxisConfig::new(12_800).with_user_scale(360.0);
assert!((cfg.to_counts(45.0) - 1600.0).abs() < 0.01);
assert!((cfg.to_user(1600.0) - 45.0).abs() < 0.01);

// mm on a 5 mm/rev ballscrew
let mm = AxisConfig::new(12_800).with_user_scale(5.0);
assert!((mm.to_counts(5.0) - 12800.0).abs() < 0.01);

Fields

invert_direction: bool

When true, invert the sign of all position/velocity conversions. Use when the motor counts in the opposite direction to your user-unit convention.

jog_speed: f64

Jog speed in user units/s.

jog_accel: f64

Jog acceleration in user units/s².

jog_decel: f64

Jog deceleration in user units/s².

home_position: f64

User-unit position assigned at the home reference point.

homing_speed: f64

Homing search speed in user units/s.

homing_accel: f64

Homing acceleration in user units/s².

homing_decel: f64

Homing deceleration in user units/s².

soft_home_method: i8

CiA 402 homing method used when the axis needs to declare “current position = home offset” — i.e. the terminal step of software homing (after a sensor search) and the integrated [HomingMethod::CurrentPosition] variant.

Methods 37 and 35 are functionally equivalent; 37 is the newer CiA 402 addition. Default: 37 (works on Teknic ClearPath and other modern drives). Set to 35 for drives whose 6098h range stops at 35 (Inovance SV660N).

halt_blocks_setpoint_ack: bool

Drive trait: does this drive refuse to assert set-point-acknowledge (status word bit 12) while Halt (control word bit 8) is asserted?

In CiA-402 Profile Position mode the cancel handshake that closes out a halt issues a new set-point (current position, zero velocity) and waits for the drive to acknowledge it. Drives disagree on whether that acknowledge is produced while Halt is still active — and this is the one behavioral split between the drives we support:

• true — the drive will NOT acknowledge a set-point while halted, so command_cancel_move must clear the halt bit while issuing the cancel set-point. The Kollmorgen AKD and Inovance SV660N both behave this way. Two independent, reference-grade CiA-402 implementations agreeing makes this the standard behavior.
• false (default) — halt is held through the whole cancel handshake. The Teknic ClearPath needs this: it acknowledges the set-point while halted, and clearing halt early makes it resume the prior move. Teknic is the oddball here.

The default is false deliberately as the safe fallback, not because it is the common case: if an unknown drive actually needs halt cleared, the halt merely times out with the motor already stopped (loud and safe), whereas defaulting to true on a Teknic-like drive could provoke unexpected motion when halt drops mid-handshake.

Typically not hand-set: the drive’s extended-info default is seeded into the axis’s options in project.json (overridable there) and baked into the generated drive handle by codegen, the same path as invert_direction.

change_set_immediately_blocks_ack: bool

Drive trait: this drive will NOT assert set-point-acknowledge (status word bit 12) for a set-point issued with Change-Set-Immediately (control word bit 5) asserted — so the halt cancel handshake, which normally sets bit 5, stalls at WaitCancelAck even with halt cleared.

When true, the halt/cancel sequence keeps bit 5 clear, so the cancel set-point uses the same plain bit-4 handshake as a normal move (which the drive does acknowledge). The Kollmorgen AKD needs this; the Teknic ClearPath and Inovance SV660N acknowledge a change-immediately set-point and rely on bit 5, so they leave it false.

Distinct from halt_blocks_setpoint_ack: a drive can need one, both, or neither. Default false (preserve bit 5).

operation_timeout_secs: f64

Timeout for general operations (enable, disable, halt, fault recovery) in seconds. Default: 7s.

homing_timeout_secs: f64

Timeout for homing operations in seconds. Default: 30s.

enable_max_position_limit: bool

Enable the maximum (positive) software position limit.

enable_min_position_limit: bool

Enable the minimum (negative) software position limit.

max_position_limit: f64

Maximum position limit in user units.

min_position_limit: f64

Minimum position limit in user units.

Implementations

impl AxisConfig

pub fn new(counts_per_rev: u32) -> Self

Create a new configuration from encoder resolution.

Default user units are revolutions (1.0 user unit = 1 revolution). Call with_user_scale to change.

pub fn with_user_scale(self, user_per_rev: f64) -> Self

Set user-units-per-revolution.

• Degrees: .with_user_scale(360.0)
• mm on 5 mm/rev ballscrew: .with_user_scale(5.0)

pub fn to_counts(&self, user_units: f64) -> f64

Convert user units to encoder counts (f64).

to_counts(45.0) on a 12800 cpr / 360° config → 1600.0

pub fn to_user(&self, counts: f64) -> f64

Convert encoder counts to user units (f64).

to_user(1600.0) on a 12800 cpr / 360° config → 45.0

pub fn counts_per_user(&self) -> f64

Encoder counts per user unit (scale factor).

For 12800 cpr / 360°: counts_per_user() ≈ 35.556

Trait Implementations

impl Clone for AxisConfig

fn clone(&self) -> AxisConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for AxisConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.