Struct SimDrive 

pub struct SimDrive { /* private fields */ }

A simulated CiA-402 Profile Position drive.

Commands arrive through the AxisView setters; step advances the state machine and integrates motion; the AxisView getters report the simulated feedback. Raw drive units throughout (encoder counts, counts/s) — the same units a real PDO carries.

Implementations

impl SimDrive

pub fn new() -> Self

New sim drive in Switch On Disabled, ready to be enabled.

pub fn set_halt_blocks_setpoint_ack(&mut self, v: bool)

Enable emulation of a drive that won’t acknowledge a set-point while halted (AKD / Inovance). Lets tests exercise the halt cancel handshake against the awkward case. Default off.

pub fn step(&mut self, dt: f64)

Advance the simulation by dt seconds: run the CiA-402 state machine, the PP set-point handshake, and integrate motion. Call once per control cycle before the axis reads feedback.

Trait Implementations

impl AxisView for SimDrive

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.

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.

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.

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.

impl Clone for SimDrive

fn clone(&self) -> SimDrive

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SimDrive

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

Formats the value using the given formatter.

impl Default for SimDrive

fn default() -> Self

Returns the “default value” for a type.