Trait AxisView

Source

pub trait AxisView {
Show 15 methods    // 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 { ... }
}

Expand description

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
}