Module motion 

CiA 402 motion control: axis abstraction, traits, and types. CiA 402 motion control: axis abstraction, traits, and types.

This module provides a generic motion control layer for CiA 402 (CANopen drive profile) servo drives.

Architecture

• [cia402] — Base CiA 402 types (state machine, modes, control/status traits)
• [AxisView] — Generic PDO field interface that drive views implement
• [AxisConfig] — Unit conversion, jog defaults, position limits
• [Axis] — Stateful motion controller managing CiA 402 protocol internally

Re-exports

pub use axis_view::AxisView;

pub use axis_config::AxisConfig;

pub use homing::HomingMethod;

pub use axis::Axis;

pub use cia402::*;

Modules

axis

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

axis_config

Axis configuration: unit conversion, jog defaults, limits. Axis configuration: unit conversion, jog defaults, limits.

axis_view

Generic hardware interface for CiA 402 servo drives. Generic hardware interface for CiA 402 servo drives.

cia402

CiA 402 base types: state machine, modes, control/status word traits. CiA 402 (CANopen drive profile) base types and traits.

homing

Homing methods: hardware-delegated and software-implemented. Homing methods for CiA 402 servo drives.