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Module axis

autocore_std::motion

Module axis 

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Expand description

Stateful motion controller for CiA 402 servo drives. Stateful motion controller for CiA 402 servo drives.

Axis manages the CiA 402 protocol state machine internally, providing a clean high-level motion API. It owns an [SdoClient] for SDO operations during homing.

§Usage

ⓘ
use autocore_std::motion::{Axis, AxisConfig};

let config = AxisConfig::new(12_800).with_user_scale(360.0);
let mut axis = Axis::new(config, "ClearPath_0");

// In your control loop:
axis.tick(&mut view, ctx.client);

// Command the axis:
axis.enable(&mut view);              // start enable sequence
axis.move_absolute(&mut view, 45.0, 90.0, 180.0, 180.0);
axis.home(&mut view, HomingMethod::CurrentPosition);

Structs§

Axis
Stateful motion controller for a CiA 402 servo drive.